Pepino es joto

clc
clear all
%%Dimensiones de eslabones
r1=79.7;
r2=14;
r3=80;
r4=51.26;
rpa=0;
w2=4*(2*pi/60);
teta2=81.58*(pi/180);
alpha2=0;
angulo=0;
alpha=angulo*(2*pi/180);

%% Obtención de datos

gama=acos((r3^2+r4^2-r1^2-r2^2+2*r1*r2*cos(teta2))/(2*r3*r4));
teta3=2*atan((-r2*sin(teta2)+r4*sin(gama))/(r3+r1-r2*cos(teta2)-
r4*cos(gama)))
teta4=2*atan((r2*sin(teta2)-r3*sin(gama))/(r4-r1+r2*cos(teta2)-
r3*cos(gama)))
w3=((r2*sin(teta2-teta4))*w2)/(r3*sin(teta4-teta3))
w4=((r2*sin(teta2-teta3))*w2)/(r4*sin(teta4-teta3))
A=r4*sin(teta4);
B=r3*sin(teta3);
C=r2*alpha2*sin(teta2)+r2*(w2^2)*cos(teta2)+r3*(w3^2)*cos(teta3)-
r4*(w4^2)*cos(teta4);
D=r4*cos(teta4);
E=r3*cos(teta3);
F=r2*alpha2*cos(teta2)-r2*(w2^2)*sin(teta2)-r3*(w3^2)*sin(teta3)-
r4*(w4^2)*sin(teta4);

alpha3=(C*D-A*F)/(A*E-B*D)
alpha4=(C*E-B*F)/(A*E-B*D)

teta3 =0.4804

teta4 =1.7020

w3 =-0.0214

w4 = 0.0986

alpha3 = 0.0380

alpha4 = 0.0366
 Apéndice 2

%% Constantes

%Elemento 2 %Elemento 3
Fg2=-598.3; w3=-0.0214;
R12y=9.33; Fg3=-108;
R12x=9.33; R23x=6.297;
R32x=-0.5656; R23y=-39.501;
R32y=-0.5656; R43x=-6.297;
Ig2=11.8; R43y=39.501;
m2=Fg2/2.683; Ig3=150;
w2=4*180/pi m3=Fg3/2.683;
alpha2=0 an3=w3^2*40;
an2=w2^2*13.2; a3y=an3*cosd(9.06);
a2y=an2*cosd(45); a3x=an3*sind(9.06);
a2x=an2*sind(45); alpha3=0.0380;

%Elemento 4
w4=0.0986;
Fg4=-2700;
Fp=-2300;
BCGx=32*cosd(7.81);
BCGy=32*sind(7.81);
OCGx=-79.22*cosd(15.03);
OCGy=-79.22*sind(15.03);
PCGx=123.44*cosd(5.6754);
m4=Fg4/2.683;
an4=w4^2*32;
a4y=an4*cosd(5.6754);
a4x=an4*sind(5.6754);
alpha4=0.0366;
Ig4=10700;

Resultados F12x= -109325.488 KN

F12y= -109326.827 KN
F32x= -0.27371582 KN
F32y= 1.66419667 KN
F43x= -0.27383193 KN
F43y= 1.77146849 KN
F14x= -0.3047926 KN
F14y= 6.45992921 KN
T12= -13.5946678 KN-m