Mecanismo Cortador

In[177]:= ;

Funciones
In[178]:= Rz[θ_] := {{Cos[θ], - Sin[θ], 0}, {Sin[θ], Cos[θ], 0}, {0, 0, 1}}

T2D[v_] := {v〚1〛, v〚2〛}

Rz[θ] // MatrixForm
Out[180]//MatrixForm=
Cos[θ] - Sin[θ] 0
Sin[θ] Cos[θ] 0
0 0 1
2 Programa_QSSEB.nb

Datos
In[181]:= L1 = 4;(*[in]*)
L2 = 12.64; (*[in]*)
L3 = 5.653;(*[in]*)
L3p = 8

L3px = 4.324;(*[in]*)
L3py = 6.731;
L4 = 8.944;(*[in]*)
L5 = 5.656;(*[in]*)
L6x = 8;(*[in]*)
L6p = 13.391;
L6 = 9.043;
L6y = 1.332;
L6px = 12.640; (*[in]*)
L6py = 1.882;

Out[184]= 8
 Programa_QSSEB.nb 3

Ecuaciones Cinemáticas
In[195]:= (*Ecuaciones de Posición*)

Clear [θ1, θ2, θ3, θ4, θ5]

r1 = {L1, 0, 0};
r2 = {L2, 0, 0};
r3 = {L3, 0, 0};
r3p = {L3p, 0, 0};
r4 = {L4, 0, 0};
r5 = {L5, 0, 0};
r6 = {L6, 0, 0};

R1 = Rz[θ1].r1;
R2 = Rz[θ2].r2;
R3 = Rz[θ3].r3;
θ10 = θ3 - 45;
R3p = Rz[θ10].r3p;
R4 = Rz[θ4].r4;
R5 = Rz[θ5].r5;
R6 = {+ L6x, + L6y, 0};
R6p = {L6px, - L6py, 0};

In[213]:= EcPos = R1 + R2 - R3 - R6p

EcPos2 = R3 + R3p + R4 - R5 - R6

Out[213]= {- 12.64 + 4 Cos[θ1] + 12.64 Cos[θ2] - 5.653 Cos[θ3],

1.882 + 4 Sin[θ1] + 12.64 Sin[θ2] - 5.653 Sin[θ3], 0.}

Out[214]= {- 8 + 8 Cos[45 - θ3] + 5.653 Cos[θ3] + 8.944 Cos[θ4] - 5.656 Cos[θ5],

- 1.332 - 8 Sin[45 - θ3] + 5.653 Sin[θ3] + 8.944 Sin[θ4] - 5.656 Sin[θ5], 0.}
4 Programa_QSSEB.nb

In[215]:= (*==========Ecuaciones de velocidad==========*)

ω1 = {0, 0, ω1z};
ω2 = {0, 0, ω2z};
ω3 = {0, 0, ω3z};
ω4 = {0, 0, ω4z};
ω5 = {0, 0, ω5z};

V1 = ω1  R1;
V2 = ω2  R2;
V3 = ω3  R3;
V3p = ω3  R3p;
V4 = ω4  R4;
V5 = ω5  R5;

EcVel1 = V1 + V2 - V3 - V6p;
EcVel2 = V3 + V3p + V4 - V5 - V6p;

(*==========Ecuaciones de aceleración==========*)

α1 = {0, 0, α1z};
α2 = {0, 0, α2z};
α3 = {0, 0, α3z};
α4 = {0, 0, α4z};
α5 = {0, 0, α5z};

A1 = α1  R1 - ω1z2 * R1;
A2 = α2  R2 - ω2z2 * R2;
A3 = α3  R3 - ω3z2 * R3;
A3p = α3  R3p - ω3z2 * R3p;
A4 = α4  R4 - ω4z2 * R4;
A5 = α5  R5 - ω5z2 * R5;
A6 = {0, 0, 0};
A6p = {0, 0, 0};

EcAcel1 = A1 + A2 - A3 - A6p;
EcAcel2 = A3 + A3p - A4 - A5 + A6p;
 Programa_QSSEB.nb 5

Solución de la Posición
Solución Inicial
In[243]:=

Clear [θ1, θ2, θ3, θ4, θ5]

θ1 = 79.924 * Degree;

SolInicial = FindRoot[
{EcPos〚1〛  0, EcPos〚2〛  0, EcPos2〚1〛  0, EcPos2〚1〛  0}, {θ2, (165.5 * Degree)},
{θ3, (85.049 * Degree)}, {θ4, (140.79 * Degree)}, {θ5, (12.782 * Degree)}];

({θ2, θ3, θ4, θ5} /. SolInicial) / Degree

Out[246]= {719.045, - 277.093, - 1363.1, 429.306}

6 Programa_QSSEB.nb

Solución Total
In[247]:= Clear [θ1, θ2, θ3, θ4, θ5]

θ2i = θ2 /. SolInicial;
θ3i = θ3 /. SolInicial;
θ4i = θ4 /. SolInicial;
θ5i = θ5 /. SolInicial;

For[i = 0, i ≤ 360, i += 1,

θ1 = (i) * Degree;

SolPos[i] = FindRoot[{
EcPos〚1〛  0, EcPos〚2〛  0,
EcPos2〚1〛  0, EcPos2〚2〛  0},
{θ2, θ2i}, {θ3, θ3i}, {θ4, θ4i}, {θ5, θ5i}];

θ2i = θ2 /. SolPos[i];
θ3i = θ3 /. SolPos[i];
θ4i = θ4 /. SolPos[i];
θ5i = θ5 /. SolPos[i];

SolPos[20];
 Programa_QSSEB.nb 7

Solucion Velocidad
In[254]:=

Clear [θ1, θ2, θ3, θ4, θ5]

Clear[ω1z, ω2z, ω3z, ω4z, ω5z]

ω1z = 2 π;

For[i = 0, i ≤ 360, i += 1,

θ1 = (95 + i) * Degree;

SolVel[i] = Solve[{
EcVel1〚1〛  0, EcVel1〚2〛  0,
EcVel2〚1〛  0, EcVel2〚2〛  0} /. SolPos[i], {ω2z, ω3z, ω4z, ω5z}] // Flatten;

SolVel[20]
Out[258]= {ω2z  2.60371 + 0.159846 V6p, ω3z  5.96594 + 0.272695 V6p,
ω4z  21.0451 + 0.483979 V6p, ω5z  24.1751 + 0.288647 V6p}
8 Programa_QSSEB.nb

Graficación Velocidad
In[259]:=

Clear [θ1, θ2, θ3, θ4, θ5]

Clear[ω1z, ω2z, ω3z, ω4z, ω5z]

Tablaω2 = Table[{i, (ω2z /. SolVel[i])}, {i, 0, 360, 1}];

Tablaω3 = Table[{i, (ω3z /. SolVel[i])}, {i, 0, 360, 1}];
Tablaω4 = Table[{i, (ω4z /. SolVel[i])}, {i, 0, 360, 1}];
Tablaω5 = Table[{i, (ω5z /. SolVel[i])}, {i, 0, 360, 1}];

Graficaω2 = ListPlot[Tablaω2, Joined  True,

PlotStyle  {RGBColor[0.956863, 0.937255, 0.168627]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "ω2[°]"}, PlotRange  All]
Graficaω3 = ListPlot[Tablaω3, Joined  True, PlotStyle  {RGBColor[1, 0.501961, 0]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "ω3[m]"}, PlotRange  All]
Graficaω4 = ListPlot[Tablaω4, Joined  True,
PlotStyle  {RGBColor[0.745098, 0.752941, 0.678431]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "ω4[°]"}, PlotRange  All]
Graficaω5 = ListPlot[Tablaω5, Joined  True,
PlotStyle  {RGBColor[0.0941176, 0.054902, 0.894118]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "ω5[m]"}, PlotRange  All]

1.0

0.8

0.6
ω2[°]

Out[265]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1
 Programa_QSSEB.nb 9

1.0

0.8

0.6
ω3[m]

Out[266]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1

1.0

0.8

0.6
ω4[°]

Out[267]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1

1.0

0.8

0.6
ω5[m]

Out[268]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1
10 Programa_QSSEB.nb

Solucion Aceleracion
In[269]:= Clear [θ1, θ2, θ3, θ4, θ5]
Clear[ω1z, ω2z, ω3z, ω4z, ω5z]
Clear[α1z, α2z, α3z, α4z, α5z]

α1z = 0;

For[i = 0, i ≤ 360, i += 1,

θ1 = (95 + i) * Degree;

SolAcel[i] = Solve[{
EcAcel1〚1〛  0, EcAcel1〚2〛  0,
EcAcel2〚1〛  0, EcAcel2〚2〛  0} /. SolPos[i] /. SolVel[i],
{α1z, α2z, α3z, α4z, α5z}] // Flatten;

SolAcel[20]
Out[274]= Solve0. - 12.5998 (2.60371 + 0.159846 V6p)2 +
3.71854 (5.96594 + 0.272695 V6p)2 - 1.00772 α2z + 4.2578 α3z + 4 ω1z2 Sin[25 °]  0,
0. - 1.00772 (2.60371 + 0.159846 V6p)2 + 4.2578 (5.96594 + 0.272695 V6p)2 +
12.5998 α2z - 3.71854 α3z - 4 ω1z2 Cos[25 °]  0,
0. - 11.6101 (5.96594 + 0.272695 V6p)2 - 2.14399 (24.1751 + 0.288647 V6p)2 -
5.75414 (21.0451 + 0.483979 V6p)2 - 2.94537 α3z - 6.84727 α4z - 5.23389 α5z  0,
0. - 2.94537 (5.96594 + 0.272695 V6p)2 - 5.23389 (24.1751 + 0.288647 V6p)2 -
6.84727 (21.0451 + 0.483979 V6p)2 + 11.6101 α3z +
5.75414 α4z + 2.14399 α5z  0, {0, α2z, α3z, α4z, α5z}
 Programa_QSSEB.nb 11

Graficación de la Aceleracion
In[275]:= Clear [θ1, θ2, θ3, θ4, θ5]
Clear[ω1z, ω2z, ω3z, ω4z, ω5z]
Clear[α1z, α2z, α3z, α4z, α5z]

Tablaα2 = Table[{i, (α2z /. SolAcel[i])}, {i, 0, 360, 1}];

Tablaα3 = Table[{i, (a3x /. SolAcel[i])}, {i, 0, 360, 1}];
Tablaα4 = Table[{i, (α4z /. SolAcel[i])}, {i, 0, 360, 1}];
Tablaα5 = Table[{i, (a5x /. SolAcel[i])}, {i, 0, 360, 1}];

Graficaα2 = ListPlot[Tablaα2, Joined  True,

PlotStyle  {RGBColor[0.956863, 0.937255, 0.168627]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "α2[°]"}, PlotRange  All]
Graficaα3 = ListPlot[Tablaα3, Joined  True, PlotStyle  {RGBColor[1, 0.501961, 0]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "α3[m]"}, PlotRange  All]
Graficaα4 = ListPlot[Tablaα4, Joined  True,
PlotStyle  {RGBColor[0.745098, 0.752941, 0.678431]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "α4[°]"}, PlotRange  All]
Graficaα5 = ListPlot[Tablaα5, Joined  True,
PlotStyle  {RGBColor[0.0941176, 0.054902, 0.894118]}, GridLines  Automatic,
Frame  True, FrameLabel  {"θ1", "α5[m]"}, PlotRange  All]

1.0

0.8

0.6
α2[°]

Out[282]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1
12 Programa_QSSEB.nb

1.0

0.8

0.6
α3[m]

Out[283]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1

1.0

0.8

0.6
α4[°]

Out[284]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1

1.0

0.8

0.6
α5[m]

Out[285]=
0.4

0.2

0.0
0.0 0.2 0.4 0.6 0.8 1.0
θ1
 Programa_QSSEB.nb 13

Graficación de la Posición
In[286]:= Clear [θ1, θ2, θ3, θ4, θ5]

Tablaθ2 = Table[{i, (θ2 /. SolPos[i]) / Degree}, {i, 0, 360, 1}]

Tablaθ3 = Table[{i, (θ3 /. SolPos[i]) / Degree}, {i, 0, 360, 1}]
Tablaθ4 = Table[{i, (θ4 /. SolPos[i]) / Degree}, {i, 0, 360, 1}];
Tablaθ5 = Table[{i, (θ5 /. SolPos[i]) / Degree}, {i, 0, 360, 1}];

Graficaθ2 =
ListPlot[Tablaθ2, Joined  True, PlotStyle  {RGBColor[0.956863, 0.937255, 0.168627]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "θ2[°]"}]
Graficaθ3 = ListPlot[Tablaθ3, Joined  True, PlotStyle  {RGBColor[1, 0.501961, 0]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "θ3[m]"}]
Graficaθ4 =
ListPlot[Tablaθ4, Joined  True, PlotStyle  {RGBColor[0.745098, 0.752941, 0.678431]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "θ4[°]"}]
Graficaθ5 =
ListPlot[Tablaθ5, Joined  True, PlotStyle  {RGBColor[0.0941176, 0.054902, 0.894118]},
GridLines  Automatic, Frame  True, FrameLabel  {"θ1", "θ5[m]"}]

Out[287]= {{0, 730.557}, {1, 730.175}, {2, 729.801}, {3, 729.437}, {4, 729.082}, {5, 728.735},
{6, 728.398}, {7, 728.07}, {8, 727.751}, {9, 727.441}, {10, 727.139}, {11, 726.846},
{12, 726.561}, {13, 726.285}, {14, 726.017}, {15, 725.758}, {16, 725.506}, {17, 725.261},
{18, 725.024}, {19, 724.795}, {20, 724.573}, {21, 724.357}, {22, 724.149}, {23, 723.947},
{24, 723.751}, {25, 723.562}, {26, 723.379}, {27, 723.202}, {28, 723.03}, {29, 722.864},
{30, 722.703}, {31, 722.548}, {32, 722.397}, {33, 722.252}, {34, 722.111}, {35, 721.975},
{36, 721.843}, {37, 721.716}, {38, 721.593}, {39, 721.473}, {40, 721.358}, {41, 721.247},
{42, 721.139}, {43, 721.036}, {44, 720.935}, {45, 720.838}, {46, 720.744},
{47, 720.654}, {48, 720.566}, {49, 720.482}, {50, 720.401}, {51, 720.322},
{52, 720.247}, {53, 720.174}, {54, 720.103}, {55, 720.036}, {56, 719.971}, {57, 719.908},
{58, 719.848}, {59, 719.79}, {60, 719.734}, {61, 719.681}, {62, 719.63}, {63, 719.581},
{64, 719.534}, {65, 719.489}, {66, 719.446}, {67, 719.405}, {68, 719.367}, {69, 719.33},
{70, 719.295}, {71, 719.262}, {72, 719.23}, {73, 719.201}, {74, 719.173}, {75, 719.148},
{76, 719.123}, {77, 719.101}, {78, 719.08}, {79, 719.061}, {80, 719.044}, {81, 719.029},
{82, 719.015}, {83, 719.002}, {84, 718.992}, {85, 718.983}, {86, 718.975}, {87, 718.97},
{88, 718.965}, {89, 718.963}, {90, 718.962}, {91, 718.963}, {92, 718.965}, {93, 718.969},
{94, 718.974}, {95, 718.982}, {96, 718.99}, {97, 719.001}, {98, 719.013}, {99, 719.027},
{100, 719.042}, {101, 719.059}, {102, 719.078}, {103, 719.099}, {104, 719.121},
{105, 719.145}, {106, 719.171}, {107, 719.199}, {108, 719.228}, {109, 719.259},
{110, 719.293}, {111, 719.328}, {112, 719.365}, {113, 719.404}, {114, 719.445},
{115, 719.487}, {116, 719.532}, {117, 719.58}, {118, 719.629}, {119, 719.68},
{120, 719.734}, {121, 719.789}, {122, 719.847}, {123, 719.908}, {124, 719.971},
14 Programa_QSSEB.nb

{125, 720.036}, {126, 720.103}, {127, 720.173}, {128, 720.246}, {129, 720.321},
{130, 720.399}, {131, 720.48}, {132, 720.564}, {133, 720.65}, {134, 720.739},
{135, 720.831}, {136, 720.926}, {137, 721.024}, {138, 721.126}, {139, 721.23},
{140, 721.338}, {141, 721.449}, {142, 721.563}, {143, 721.681}, {144, 721.803},
{145, 721.927}, {146, 722.056}, {147, 722.188}, {148, 722.324}, {149, 722.464},
{150, 722.608}, {151, 722.755}, {152, 722.907}, {153, 723.062}, {154, 723.222},
{155, 723.386}, {156, 723.554}, {157, 723.726}, {158, 723.902}, {159, 724.083},
{160, 724.268}, {161, 724.458}, {162, 724.652}, {163, 724.85}, {164, 725.053},
{165, 725.26}, {166, 725.472}, {167, 725.688}, {168, 725.908}, {169, 726.133},
{170, 726.363}, {171, 726.363}, {172, 726.363}, {173, 726.363}, {174, 726.363},
{175, 726.363}, {176, 726.363}, {177, 726.363}, {178, 726.363}, {179, 726.363},
{180, 726.363}, {181, 726.363}, {182, 726.363}, {183, 726.363}, {184, 726.363},
{185, 726.363}, {186, 726.363}, {187, 726.363}, {188, 726.363}, {189, 726.363},
{190, 726.363}, {191, 726.363}, {192, 726.363}, {193, 726.363}, {194, 726.363},
{195, 726.363}, {196, 726.363}, {197, 726.363}, {198, 726.363}, {199, 726.363},
{200, 726.363}, {201, 726.363}, {202, 726.363}, {203, 736.058}, {204, 736.058},
{205, 736.058}, {206, 736.058}, {207, 736.058}, {208, 736.058}, {209, 736.058},
{210, 736.058}, {211, 736.058}, {212, 736.058}, {213, 736.058}, {214, 736.058},
{215, 740.235}, {216, 740.235}, {217, 740.846}, {218, 741.189}, {219, 741.532},
{220, 741.874}, {221, 742.216}, {222, 742.557}, {223, 742.896}, {224, 743.235},
{225, 743.572}, {226, 743.907}, {227, 744.241}, {228, 744.573}, {229, 744.903},
{230, 745.231}, {231, 745.557}, {232, 745.881}, {233, 746.202}, {234, 746.521},
{235, 746.837}, {236, 747.151}, {237, 747.461}, {238, 747.768}, {239, 748.072},
{240, 748.373}, {241, 748.671}, {242, 748.964}, {243, 749.254}, {244, 749.54},
{245, 749.823}, {246, 750.101}, {247, 750.374}, {248, 750.644}, {249, 750.908},
{250, 751.168}, {251, 751.424}, {252, 751.674}, {253, 751.919}, {254, 752.159},
{255, 752.393}, {256, 752.622}, {257, 752.846}, {258, 753.063}, {259, 753.274},
{260, 753.48}, {261, 753.679}, {262, 753.871}, {263, 754.057}, {264, 754.236},
{265, 754.409}, {266, 754.574}, {267, 754.732}, {268, 754.883}, {269, 755.026},
{270, 755.161}, {271, 755.289}, {272, 755.408}, {273, 755.52}, {274, 755.623},
{275, 755.718}, {276, 755.804}, {277, 755.881}, {278, 755.949}, {279, 756.008},
{280, 756.058}, {281, 756.099}, {282, 756.129}, {283, 756.15}, {284, 756.162},
{285, 756.163}, {286, 756.154}, {287, 756.134}, {288, 756.104}, {289, 756.064},
{290, 756.013}, {291, 755.95}, {292, 755.877}, {293, 755.793}, {294, 755.697},
{295, 755.59}, {296, 755.472}, {297, 755.342}, {298, 755.2}, {299, 755.047},
{300, 754.882}, {301, 754.705}, {302, 754.516}, {303, 754.315}, {304, 754.102},
{305, 753.877}, {306, 753.64}, {307, 753.391}, {308, 753.13}, {309, 752.858},
{310, 752.573}, {311, 752.277}, {312, 751.969}, {313, 751.649}, {314, 751.318},
{315, 750.976}, {316, 750.623}, {317, 750.259}, {318, 749.885}, {319, 749.5},
{320, 749.105}, {321, 748.7}, {322, 748.286}, {323, 747.862}, {324, 747.43}, {325, 746.99},
{326, 746.542}, {327, 746.086}, {328, 745.623}, {329, 745.154}, {330, 744.679},
{331, 744.199}, {332, 743.714}, {333, 743.224}, {334, 742.731}, {335, 742.234},
{336, 741.736}, {337, 741.235}, {338, 740.733}, {339, 740.231}, {340, 739.728},
{341, 739.227}, {342, 738.726}, {343, 738.228}, {344, 737.732}, {345, 737.24},
{346, 736.751}, {347, 736.266}, {348, 735.786}, {349, 735.312}, {350, 734.843},
{351, 734.38}, {352, 733.924}, {353, 733.476}, {354, 733.034}, {355, 732.601},
{356, 732.175}, {357, 731.758}, {358, 731.349}, {359, 730.949}, {360, 730.557}}
 Programa_QSSEB.nb 15

Out[288]= {{0, - 312.047}, {1, - 312.246}, {2, - 312.417}, {3, - 312.56}, {4, - 312.675}, {5, - 312.762},
{6, - 312.823}, {7, - 312.857}, {8, - 312.865}, {9, - 312.848}, {10, - 312.805},
{11, - 312.738}, {12, - 312.647}, {13, - 312.533}, {14, - 312.396}, {15, - 312.237},
{16, - 312.057}, {17, - 311.855}, {18, - 311.634}, {19, - 311.392}, {20, - 311.132},
{21, - 310.854}, {22, - 310.557}, {23, - 310.243}, {24, - 309.913}, {25, - 309.566},
{26, - 309.204}, {27, - 308.827}, {28, - 308.436}, {29, - 308.03}, {30, - 307.611},
{31, - 307.179}, {32, - 306.735}, {33, - 306.278}, {34, - 305.81}, {35, - 305.331},
{36, - 304.841}, {37, - 304.34}, {38, - 303.83}, {39, - 303.309}, {40, - 302.78},
{41, - 302.242}, {42, - 301.695}, {43, - 301.14}, {44, - 300.577}, {45, - 300.007},
{46, - 299.429}, {47, - 298.844}, {48, - 298.253}, {49, - 297.655}, {50, - 297.05},
{51, - 296.44}, {52, - 295.824}, {53, - 295.203}, {54, - 294.576}, {55, - 293.945},
{56, - 293.308}, {57, - 292.667}, {58, - 292.022}, {59, - 291.372}, {60, - 290.718},
{61, - 290.06}, {62, - 289.399}, {63, - 288.734}, {64, - 288.066}, {65, - 287.395},
{66, - 286.72}, {67, - 286.043}, {68, - 285.363}, {69, - 284.68}, {70, - 283.995},
{71, - 283.308}, {72, - 282.618}, {73, - 281.927}, {74, - 281.233}, {75, - 280.538},
{76, - 279.841}, {77, - 279.143}, {78, - 278.443}, {79, - 277.742}, {80, - 277.04},
{81, - 276.337}, {82, - 275.632}, {83, - 274.927}, {84, - 274.222}, {85, - 273.515},
{86, - 272.809}, {87, - 272.102}, {88, - 271.394}, {89, - 270.687}, {90, - 269.979},
{91, - 269.271}, {92, - 268.564}, {93, - 267.857}, {94, - 267.15}, {95, - 266.444},
{96, - 265.738}, {97, - 265.033}, {98, - 264.329}, {99, - 263.626}, {100, - 262.924},
{101, - 262.223}, {102, - 261.523}, {103, - 260.825}, {104, - 260.128}, {105, - 259.433},
{106, - 258.739}, {107, - 258.048}, {108, - 257.358}, {109, - 256.67}, {110, - 255.985},
{111, - 255.302}, {112, - 254.621}, {113, - 253.943}, {114, - 253.267}, {115, - 252.595},
{116, - 251.925}, {117, - 251.259}, {118, - 250.595}, {119, - 249.935}, {120, - 249.279},
{121, - 248.626}, {122, - 247.977}, {123, - 247.332}, {124, - 246.692}, {125, - 246.055},
{126, - 245.423}, {127, - 244.796}, {128, - 244.173}, {129, - 243.555}, {130, - 242.943},
{131, - 242.335}, {132, - 241.733}, {133, - 241.137}, {134, - 240.546}, {135, - 239.962},
{136, - 239.384}, {137, - 238.812}, {138, - 238.246}, {139, - 237.687}, {140, - 237.136},
{141, - 236.591}, {142, - 236.053}, {143, - 235.524}, {144, - 235.001}, {145, - 234.487},
{146, - 233.981}, {147, - 233.483}, {148, - 232.993}, {149, - 232.512}, {150, - 232.04},
{151, - 231.577}, {152, - 231.124}, {153, - 230.679}, {154, - 230.245}, {155, - 229.82},
{156, - 229.405}, {157, - 229.}, {158, - 228.605}, {159, - 228.22}, {160, - 227.847},
{161, - 227.483}, {162, - 227.131}, {163, - 226.79}, {164, - 226.46}, {165, - 226.14},
{166, - 225.832}, {167, - 225.536}, {168, - 225.251}, {169, - 224.977}, {170, - 224.715},
{171, - 224.715}, {172, - 224.715}, {173, - 224.715}, {174, - 224.715}, {175, - 224.715},
{176, - 224.715}, {177, - 224.715}, {178, - 224.715}, {179, - 224.715}, {180, - 224.715},
{181, - 224.715}, {182, - 224.715}, {183, - 224.715}, {184, - 224.715}, {185, - 224.715},
{186, - 224.715}, {187, - 224.715}, {188, - 224.715}, {189, - 224.715}, {190, - 224.715},
{191, - 224.715}, {192, - 224.715}, {193, - 224.715}, {194, - 224.715}, {195, - 224.715},
{196, - 224.715}, {197, - 224.715}, {198, - 224.715}, {199, - 224.715}, {200, - 224.715},
{201, - 224.715}, {202, - 224.715}, {203, - 222.426}, {204, - 222.426}, {205, - 222.426},
{206, - 222.426}, {207, - 222.426}, {208, - 222.426}, {209, - 222.426}, {210, - 222.426},
{211, - 222.426}, {212, - 222.426}, {213, - 222.426}, {214, - 222.426}, {215, - 224.549},
{216, - 224.549}, {217, - 224.653}, {218, - 224.867}, {219, - 225.094}, {220, - 225.329},
{221, - 225.572}, {222, - 225.822}, {223, - 226.079}, {224, - 226.343}, {225, - 226.614},
{226, - 226.892}, {227, - 227.178}, {228, - 227.47}, {229, - 227.769}, {230, - 228.075},
{231, - 228.388}, {232, - 228.708}, {233, - 229.034}, {234, - 229.367}, {235, - 229.707},
16 Programa_QSSEB.nb

{236, - 230.054}, {237, - 230.408}, {238, - 230.768}, {239, - 231.135}, {240, - 231.508},
{241, - 231.889}, {242, - 232.276}, {243, - 232.669}, {244, - 233.07}, {245, - 233.477},
{246, - 233.89}, {247, - 234.311}, {248, - 234.738}, {249, - 235.173}, {250, - 235.613},
{251, - 236.061}, {252, - 236.516}, {253, - 236.978}, {254, - 237.446}, {255, - 237.922},
{256, - 238.404}, {257, - 238.894}, {258, - 239.39}, {259, - 239.894}, {260, - 240.405},
{261, - 240.924}, {262, - 241.449}, {263, - 241.982}, {264, - 242.522}, {265, - 243.07},
{266, - 243.625}, {267, - 244.188}, {268, - 244.758}, {269, - 245.336}, {270, - 245.921},
{271, - 246.515}, {272, - 247.116}, {273, - 247.725}, {274, - 248.342}, {275, - 248.967},
{276, - 249.6}, {277, - 250.24}, {278, - 250.889}, {279, - 251.547}, {280, - 252.212},
{281, - 252.885}, {282, - 253.567}, {283, - 254.257}, {284, - 254.956}, {285, - 255.662},
{286, - 256.377}, {287, - 257.101}, {288, - 257.832}, {289, - 258.572}, {290, - 259.321},
{291, - 260.077}, {292, - 260.842}, {293, - 261.615}, {294, - 262.397}, {295, - 263.186},
{296, - 263.984}, {297, - 264.789}, {298, - 265.603}, {299, - 266.424}, {300, - 267.253},
{301, - 268.089}, {302, - 268.932}, {303, - 269.783}, {304, - 270.641}, {305, - 271.505},
{306, - 272.376}, {307, - 273.253}, {308, - 274.136}, {309, - 275.025}, {310, - 275.919},
{311, - 276.818}, {312, - 277.721}, {313, - 278.629}, {314, - 279.54}, {315, - 280.454},
{316, - 281.371}, {317, - 282.29}, {318, - 283.21}, {319, - 284.132}, {320, - 285.053},
{321, - 285.974}, {322, - 286.894}, {323, - 287.812}, {324, - 288.727}, {325, - 289.639},
{326, - 290.546}, {327, - 291.449}, {328, - 292.344}, {329, - 293.233}, {330, - 294.114},
{331, - 294.986}, {332, - 295.847}, {333, - 296.698}, {334, - 297.536}, {335, - 298.362},
{336, - 299.173}, {337, - 299.968}, {338, - 300.748}, {339, - 301.51}, {340, - 302.254},
{341, - 302.978}, {342, - 303.682}, {343, - 304.365}, {344, - 305.026}, {345, - 305.664},
{346, - 306.277}, {347, - 306.866}, {348, - 307.43}, {349, - 307.968}, {350, - 308.479},
{351, - 308.963}, {352, - 309.42}, {353, - 309.848}, {354, - 310.248}, {355, - 310.62},
{356, - 310.963}, {357, - 311.277}, {358, - 311.563}, {359, - 311.819}, {360, - 312.047}}

750

740
θ2[°]

Out[291]=

730

720

0 50 100 150 200 250 300 350

θ1
 Programa_QSSEB.nb 17

-220

-240

-260
θ3[m]

Out[292]=
-280

-300

0 50 100 150 200 250 300 350

θ1

-1120

-1140

-1160
θ4[°]

Out[293]=
-1180

-1200

-1220
0 50 100 150 200 250 300 350
θ1

850

800

750
θ5[m]

Out[294]= 700

650

600

0 50 100 150 200 250 300 350

θ1

Animación
In[295]:=

Clear[θ1, θ2, θ3, θ4, θ5]

Manipulate
θ1 = i * Degree;
cero2D = {0, 0};
18 Programa_QSSEB.nb

medio2D = {12.666, - 4};

Final2D = {20.637, 0};
RR1 = T2D[R1];
RR2 = T2D[R2] /. SolPos[i];
RR3 = T2D[R3] /. SolPos[i];
RR3p = T2D[R3p] /. SolPos[i];
RR4 = T2D[R4] /. SolPos[i];
RR5 = T2D[R5] /. SolPos[i];
RR6 = T2D[R6] /. SolPos[i];
(*PRIMITIVAS*)

Linea1 = Line[{cero2D, RR1}];

Linea2 = Line[{RR1, RR1 + RR2}];
Linea3 = Line[{medio2D, RR1 + RR2}];
Linea3p = Line[{RR1 + RR2, RR1 + RR2 + RR3p}];
Linea4 = Line[{RR1 + RR2 + RR3p, RR1 + RR2 + RR3p + RR4}];
Linea5 = Line[{RR1 + RR2 + RR3p + RR4, Final2D}];

punto1 = Point[cero2D];
punto2 = Point[RR1];
punto3 = Point[RR1 + RR2];
punto4 = Point[medio2D];
punto5 = Point[RR1 + RR2 + RR3p];
punto6 = Point[RR1 + RR2 + RR3p + RR4];
punto7 = Point[Final2D];

(*GRÁFICOS*)
Barra1 = Graphics[{Thickness[0.02], RGBColor[1, 0, 0], Linea1}];
Barra2 = Graphics[{Thickness[0.02], RGBColor[1.000, 1.000, 0.000], Linea2}];
Barra3 = Graphics[{Thickness[0.02], RGBColor[1.000, 0.502, 0.000], Linea3}];
Barra3p = Graphics[{Thickness[0.02], RGBColor[1.000, 0.502, 0.000], Linea3p}];
Barra4 = Graphics[{Thickness[0.02], RGBColor[RGBColor[0.000, 0.000, 1.000]], Linea4}];
Barra5 = Graphics[
{Thickness[0.02], RGBColor[RGBColor[RGBColor[0.502, 0.000, 1.000]]], Linea5}];
Nodos =
Graphics[{PointSize[0.025], punto1, punto2, punto3, punto4, punto5, punto6, punto7}];

Show[Barra1, Barra2, Barra3, Barra3p, Barra4, Barra5, Nodos,

Frame  True, GridLines  Automatic, PlotRange  {{- 30, 50}, {- 10, 40}}]

, {i, 0, 360, 1}

 Programa_QSSEB.nb 19

i
40

30

20
Out[296]=

10

-10
-20 0 20 40