EXAMEN CIANCA
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Transcript of EXAMEN CIANCA
INSTITUTO POLITÉCNICO NACIONAL
ESCUELA SUPERIOR DE INGENIERIA MECÁNICA Y ELÉCTRICA
UNIDAD PROFESIONAL “AZCAPOTZALCO”
ANALISIS DINAMICO DE UN ROBOT DE 4 GRADOS DE LIBERTAD
EXAMEN
INTERFACES Y PERIFÉRICOS II
ALUMNOS:
DE JESUS PEREZ SAÚL DIANA ELIZABETH FAUSTINO DOMÍNGUEZ MARCOS CÉSAR FERNÁNDEZ CALVILLO DANIEL MIGUEL FLEMATE ROJAS FRANCISCO JAVIER OLVERA ARGUETA
PROFESORES:
ING. ISRAEL VÁZQUEZ CIANCA DR. EMMANUEL MERCHÁN CRUZ
MÉXICO, D.F 2012
PUNTO DISTANCIA
1 0
2 0.3571
3 0.3285
4 0.2
5 0.08571
6 0.02857
7 0.2
8 0.2
9 0.2
10 0.2
11 0.2
12 0.2
13 0.2
14 0.2
15 0.2
16 0.2
17 0.2
18 0.2
19 0.2
20 0.02857
21 0.08571
22 0.2
23 0.3285
24 0.3571
25 0
TRAYECTORIA REALIZADA
TI=
0 1 0 -0.7
0 0 -1 0
-1 0 0 1
0 0 0 1
TF=
0 1 0 -0.7
0 0 -1 0
-1 0 0 0.125
0 0 0 1
ACOTACIÓN
Desplazamiento [ ]
PERFIL DE VELOCIDAD DEL EFECTOR FINAL
PERFIL DE ACELERACIÓN DEL EFECTOR FINAL
0
50
100
150
200
250
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
VELOCIDAD
VELOCIDAD
-250
-200
-150
-100
-50
0
50
100
150
200
250
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ACELERACIÓN
ACELERACIÓN
TETA1 VEL1 ACEL1
-1.86E-16 0.00E+00 0.00E+00
6.66E-17 -4.08E-16 -1.59E-15
-7.92E-17 1.59E-16 2.09E-16
-2.69E-17 9.04E-17 -4.97E-16
-8.85E-18 1.90E-16 3.09E-15
7.41E-18 -7.54E-17 -4.27E-15
5.25E-18 4.65E-17 2.29E-16
1.46E-17 7.80E-19 1.46E-15
1.47E-17 -2.90E-16 -1.68E-15
-4.34E-17 4.59E-17 -1.08E-17
-3.42E-17 4.80E-17 1.34E-15
-2.46E-17 -2.20E-16 -3.38E-16
-6.87E-17 -1.53E-16 -1.29E-17
-9.93E-17 -1.50E-16 -8.72E-16
-1.29E-16 2.41E-17 -6.28E-16
-1.25E-16 1.50E-16 1.25E-15
-9.46E-17 -1.01E-16 -1.50E-15
-1.15E-16 2.00E-16 3.57E-16
-7.47E-17 1.29E-16 -4.78E-15
-4.90E-17 1.09E-15 -4.00E-14
1.68E-16 9.09E-15 3.58E-13
4.28E-16 -1.14E-15 -2.27E-14
3.30E-16 8.08E-16 8.94E-15
4.92E-16 -9.81E-16 -2.99E-15
1.69E-16 0.00E+00 0.00E+00
-1.00E-13
-5.00E-14
0.00E+00
5.00E-14
1.00E-13
1.50E-13
2.00E-13
2.50E-13
3.00E-13
3.50E-13
4.00E-13
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ACEL1
VEL1
TETA1
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]
TETA2 VEL2 ACEL2
2.21696771 0 0
2.23756594 0.09557977 0.03751292
2.27169748 0.08218391 -16.7406369
2.29869489 5.58148312 92.0146853
3.41499152 -12.8214539 -626.591739
2.3160647 40.883724 1420.74378
3.48411269 0.29307415 0.04610929
3.54272753 0.28385229 0.04990455
3.59949798 0.27387138 0.05472936
3.65427226 0.26292551 0.06034608
3.70685736 0.2508563 0.06653913
3.75702862 0.23754847 0.07312144
3.80453832 0.22292418 0.07994753
3.84912315 0.20693468 0.08693144
3.89051009 0.18954839 0.09406879
3.92841977 0.17073463 0.1014651
3.96256669 0.15044161 0.10937624
3.99265501 0.12856636 0.11827502
4.01836829 0.10491136 0.08374619
4.03935056 0.08816212 -0.38351657
4.05698298 0.16486544 3.11195166
4.06169319 0.07595698 409.442342
4.06820346 -35.0173462 -280.989216
-2.93526577 21.180497 64.4763989
4.02252751 0 0
-1000
-500
0
500
1000
1500
2000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ACEL2
VEL2
TETA2
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]
TETA3 VEL3 ACEL3
-5.28550166 0 0
-5.16397223 0.24455826 0.31656393
-5.07664048 0.13151328 -56.9411269
-5.03343836 18.8366735 312.699657
-1.26610367 -43.7032579 -2024.26284
-5.01190991 129.79631 4547.60741
-1.30362933 -0.12883376 -0.1609317
-1.32939608 -0.09664742 -0.15853147
-1.34872557 -0.06494112 -0.15710853
-1.36171379 -0.03351942 -0.15643223
-1.36841768 -0.00223297 -0.15638857
-1.36886427 0.02904474 -0.15697005
-1.36305532 0.06043875 -0.15827511
-1.35096757 0.09209377 -0.16051666
-1.33254882 0.12419711 -0.16404306
-1.3077094 0.15700572 -0.16937927
-1.27630825 0.19088157 -0.17730393
-1.23813194 0.22634236 -0.18899426
-1.19286347 0.26414121 -0.44266694
-1.14003522 0.3526746 -3.40547426
-1.06950031 1.03376945 5.00036795
-1.03996551 0.89090894 -93.0696641
-0.96360571 8.86790985 65.4653672
0.80997626 -4.22516359 -12.8619896
-0.57798998 0 0
-3000
-2000
-1000
0
1000
2000
3000
4000
5000
6000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ACEL3
VEL3
TETA3
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]
TETA4 VEL4 ACEL4
1.49773762 0 0
1.35560997 -0.34013804 -0.35407685
1.23414667 -0.21369719 -21.9527158
1.16394714 6.99776996 118.90276
2.56350114 -16.7827821 -770.332865
1.12504888 49.2424478 1729.32055
2.53190562 -0.16424039 0.11482241
2.49905754 -0.18720488 0.10862692
2.46161656 -0.20893026 0.10237917
2.41983051 -0.22940609 0.09608615
2.37394929 -0.24862332 0.08984943
2.32422463 -0.26659321 0.08384861
2.27090599 -0.28336293 0.07832758
2.2142334 -0.29902845 0.07358522
2.15442771 -0.3137455 0.06997427
2.09167861 -0.32774035 0.06791416
2.02613054 -0.34132318 0.0679277
1.9578659 -0.35490872 0.07071925
1.88688416 -0.36905257 0.35892075
1.81307365 -0.44083672 3.78899083
1.7249063 -1.19863489 -8.11231961
1.6906613 -0.96686592 50.1647919
1.60779122 -5.26649023 -37.1902635
0.55449318 2.17156247 6.61054025
1.26785145 0 0
-1000
-500
0
500
1000
1500
2000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
ACEL4
VEL4
TETA4
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]
TORQUE1A TORQUE2A TORQUE3A TORQUE4A
-12.0835717 1.87E-15 -9.43E-17 0
-12.2156262 0.08424872 0.05115289 0.00066715
-12.4297409 -26.07868 -10.8967413 -0.08171135
-12.5948073 21.8643468 64.1495096 2.9771923
-15.0030066 -332.012015 -397.092073 14.9234531
-12.6989418 -3681.45566 1143.4625 125.446361
-14.8334734 -0.0018086 -0.02857218 0.00096628
-14.6611454 0.00475228 -0.02688324 0.00094518
-14.4698371 0.01203644 -0.02500767 0.00092987
-14.2630772 0.01988133 -0.02294911 0.00092064
-14.0446694 0.02812731 -0.02071955 0.00091792
-13.8186653 0.03662307 -0.01834008 0.00092216
-13.5893102 0.04523428 -0.01584099 0.00093382
-13.3609713 0.05385417 -0.01326088 0.00095337
-13.1380596 0.06241586 -0.01064519 0.00098134
-12.9249585 0.0709067 -0.0080441 0.00101852
-12.7259705 0.07938736 -0.00551013 0.00106612
-12.5452961 0.08802098 -0.00309568 0.00112615
-12.3870596 0.00880507 -0.04021337 0.00138722
-12.2553963 -1.04231925 -0.51704244 0.00306136
-12.1430335 4.31163677 1.36119585 0.01377224
-12.1127566 366.574559 85.574374 1.73496264
-12.0707301 -352.029282 -271.368728 5.46616684
-15.1319423 87.4144085 86.7974959 3.22317075
-12.3611398 1.97E-15 2.43E-16 0
TORQUES INCISO A
-4000
-3500
-3000
-2500
-2000
-1500
-1000
-500
0
500
1000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
TORQUE4A
TORQUE3A
TORQUE2A
TORQUE1A
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]
TORQUE1B TORQUE2B TORQUE3B TORQUE4B
-31.3111717 3.24E-15 -7.71E-16 0
-31.4432262 0.32032074 0.232731 0.00984843
-31.6573409 -86.8323613 -50.4893028 -1.50268203
-31.8224073 -18.4204682 280.457898 45.5722423
-34.2306065 -1139.76417 -1587.10744 209.692913
-31.9265418 -16844.1068 4366.06803 1875.69001
-34.0610734 -0.04965648 -0.10629125 0.01426418
-33.8887454 -0.02858898 -0.09967176 0.01395263
-33.6974371 -0.00572617 -0.09229813 0.0137266
-33.4906772 0.01855233 -0.08418118 0.01359045
-33.2722694 0.0438489 -0.07537103 0.01355031
-33.0462653 0.06976309 -0.0659592 0.0136129
-32.8169102 0.09591227 -0.0560776 0.01378498
-32.5885713 0.12195574 -0.04589451 0.01407349
-32.3656597 0.14762055 -0.03560805 0.01448651
-32.1525586 0.17272924 -0.02543843 0.01503536
-31.9535705 0.19723156 -0.0156206 0.01573792
-31.7728961 0.22124765 -0.00639927 0.01662418
-31.6146596 -0.06597965 -0.17034237 0.02047802
-31.4829964 -3.84686483 -2.26601479 0.04519151
-31.3706335 14.0266987 6.00917187 0.20330454
-31.3403566 1044.68668 365.862741 26.7476194
-31.2983301 -1092.82943 -1003.66819 79.9076206
-34.3595423 277.106088 353.036095 47.760637
-31.5887398 4.80E-15 1.28E-15 0
TORQUES INCISO B
-20000
-15000
-10000
-5000
0
5000
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25
TORQUE4B
TORQUE3B
TORQUE2B
TORQUE1B
ACOTACIÓN
Desplazamiento [ ]
Velocidad [
]
Aceleración [
]
Torque [ ]