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# 1.

## López Cruz Elizabeth

3. Mayorga Basaldúa Jonathan
4.

## Determinamos dimensiones, de la figura anterior.

𝑎 = 64 𝑚𝑚
𝑏 = 38 𝑚𝑚
𝑐 = 19 𝑚𝑚
𝑑 = 20 𝑚𝑚
𝑒 = 19 𝑚𝑚
𝑟𝑎𝑑𝑖𝑜𝑠 = 5 𝑚𝑚
De nuestras figuras buscamos sus Centros de Gravedad.
𝐶 19
𝑋𝐶𝐺1 = = = 9.5 𝑚𝑚
2 2
𝑏 38
𝑎 ∗ 𝑏 ∗ 2 − 2 ∗ 𝜋 ∗ 𝑟2 ∗ 𝑐 (64)(38) ( ) − 2𝜋(52 )(19)
𝑌𝐶𝐺1 = −𝑑 = 2 − 20 [𝑚𝑚] = −1.069 𝑚𝑚
𝑎∗𝑏−2∗𝜋∗𝑟 (64)(38) − 2𝜋(5)
𝑍𝐶𝐺1 = 0
Determinamos el volumen y la masa en este segmento.
𝑉1 = 𝑎 ∗ 𝑏 ∗ 𝑐 − 2 ∗ 𝜋 ∗ 𝑟 2 ∗ 𝑐 = (64)(38)(19) − 2 ∗ 𝜋(52 )(19) = 4.322𝑥104 𝑚𝑚3
𝑚 = 𝜌 ∗ 𝑉1 = (7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 )(4.322𝑥104 𝑚𝑚3 ) = 0.337𝐾𝑔
Determinamos los momentos de masa sobre los ejes locales a través de los CG.

## 𝑚𝑎 = 𝑎 ∙ 𝑏 ∙ 𝑐 ∙ 𝜌 = (64)(38)(19)(7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 ) 𝑚𝑎 = 0.360 𝐾𝑔

𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑥 = (𝑎 + 𝑏 2 ) = (642 + 382 ) 𝐼𝑎𝑥 = 1.664 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12

𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑦 = (𝑎 + 𝑐 2 ) = (642 + 192 ) 𝐼𝑎𝑦 = 1.339 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12

𝑚𝑎 2 0.360𝑘𝑔
𝐼𝑎𝑧 = (𝑏 + 𝑐 2 ) = (382 + 192 ) 𝐼𝑎𝑧 = 5.421 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12

Para el cilindro:

## 𝑚𝑏 = −𝜋 ∙ 𝑟 2 ∙ 𝑐 ∙ 𝜌 = −𝜋(52 )(19)(7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 ) 𝑚𝑏 = −0.012 𝐾𝑔

𝑚𝑏 ∙ 𝑟 2 (−0.012𝑘𝑔)(52 )
𝐼𝑏𝑥 = = 𝐼𝑏𝑥 = −1.455 × 10−7 𝐾𝑔 ∙ 𝑚2
2 2

𝑚𝑏 −0.012𝑘𝑔
𝐼𝑏𝑦 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 52 ) + (192 ) 𝐼𝑏𝑦 = −4.229 × 10−7 𝐾𝑔 ∙ 𝑚2
12 12

𝑚𝑏 −0.012𝑘𝑔
𝐼𝑏𝑧 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 52 ) + (192 ) 𝐼𝑏𝑦 = −4.229 × 10−7 𝐾𝑔 ∙ 𝑚2
12 12

## 𝐼𝑥𝑥1 = 1.664 × 10−4 𝐾𝑔 ∙ 𝑚2 + 0.360 𝐾𝑔[(−1.069 𝑚𝑚)2 + (0)2 ]

+ 2(−1.455 × 10−7 𝐾𝑔 ∙ 𝑚2 + (−0.012𝑘𝑔) ∙ 19 𝑚𝑚2 )

## 𝐼𝑥𝑥1 = 1.581 × 10−4 𝐾𝑔 ∙ 𝑚2

𝑐 2
𝐼𝑦𝑦1 = 𝐼𝑎𝑦 + 𝑚𝑎 [(𝑋𝐶𝐺1 )2 + (𝑍𝐶𝐺1 )2 ] + 2 (𝐼𝑏𝑦 + 𝑚𝑏 ∙ ( ) )
2

## 𝐼𝑦𝑦1 = 1.339 × 10−4 𝐾𝑔 ∙ 𝑚2 + 0.360𝑘𝑔[(9.5 𝑚𝑚)2 + (0)2 ]

−7 2
19 2
+ 2 (−4.229 × 10 𝐾𝑔 ∙ 𝑚 + (−0.012𝑘𝑔) ∙ ( ) )
2
𝐼𝑦𝑦1 = 1.634 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑧𝑧1 = 𝐼𝑎𝑧 + 𝑚𝑎 [(𝑋𝐶𝐺1 )2 + (𝑌𝐶𝐺1 )2 ] + 2(𝐼𝑏𝑧 )

## Ahora para el segmento de la pieza donde se encuentra el ángulo de 90°.

Teniendo como dimensiones:
𝑎 = 𝑟𝑎𝑑𝑖𝑜1 = 13 𝑚𝑚
𝑏 = 32 𝑚𝑚
𝑐 = 64 𝑚𝑚
𝑑 = 18 𝑚𝑚
𝑒 = 𝑅𝑎𝑑𝑖𝑜2 = 32 𝑚𝑚

4 𝑏 3 − 𝑎3 4 323 − 133
𝑋𝑐𝑔2 = 𝑒 − ∙ 2 = 32 − ∙ [𝑚𝑚] 𝑋𝑐𝑔2 = 16.825 𝑚𝑚
3𝜋 𝑏 − 𝑎2 3𝜋 322 − 132

4 𝑏 3 − 𝑎3 4 323 − 133
𝑌𝑐𝑔2 = 𝑑 − ∙ 2 = 18 − ∙ [𝑚𝑚] 𝑌𝑐𝑔2 = 33.175 𝑚𝑚
3𝜋 𝑏 − 𝑎2 3𝜋 322 − 132

𝑍𝑐𝑔2 = 0 𝑚𝑚

## Determinamos el volumen y la masa de este segmento.

𝜋 ∙ 𝑏 2 ∙ 𝑐 − 𝜋 ∙ 𝑎2 ∙ 𝑐 𝜋 ∙ 322 ∙ 64 − 𝜋 ∙ 132 ∙ 64
𝑉2 = = 𝑉2 = 4.298 × 104 𝑚𝑚3
4 4

## 𝑀2 = 𝜌 ∙ 𝑉2 = (7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 )(4.298 × 104 𝑚𝑚3 ) 𝑀2 = 0.335 𝐾𝑔

Determine los momentos de masa sobre los ejes locales señalados en el dibujo del segmento.

𝑀2 0.335𝑘𝑔
𝐼𝑥 = (3𝑎2 + 3𝑏 2 + 𝑐 2 ) = (3(0.0132 ) + 3(0.0322 ) + 0.0642 )
12 12
𝐼𝑥 = 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2

𝑀2 0.335𝑘𝑔
𝐼𝑦 = (3𝑎2 + 3𝑏 2 + 𝑐 2 ) = (3(0.0132 ) + 3(0.0322 ) + 0.0642 )
12 12
𝐼𝑥 = 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2

𝑀2 2 0.335𝑘𝑔
𝐼𝑧 = (𝑎 + 𝑏 2 ) = (0.0132 + 0.0322 )
12 12
𝐼𝑥 = 2 × 10−4 𝐾𝑔 ∙ 𝑚2

## Determine los momentos de masa sobre los

ejes globales.

𝐼𝑥𝑥2 = 𝐼𝑥 + 𝑀2 ∙ 𝑑2
= 2.144 × 10−4 𝐾𝑔 ∙ 𝑚2
+ 0.335𝑘𝑔 ∗ 0.018𝑚
𝐼𝑥𝑥2 = 3.23 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑦𝑦2 = 𝐼𝑎𝑥 + 𝑀2 ∙ 𝑒 2 𝐼𝑦𝑦2 = 4.771 × 10−4 𝐾𝑔 ∙ 𝑚2
𝐼𝑧𝑧2 = 𝐼𝑎𝑧 + 𝑀2 ∙ (𝑑2 + 𝑒 2 ) 𝐼𝑧𝑧2 = 5.061 × 10−4 𝐾𝑔 ∙ 𝑚2

## Y finalmente con el prisma rectangular

𝑎 = 64 𝑚𝑚
𝑏 = 19 𝑚𝑚
𝑐 = 38 𝑚𝑚
𝑑 = 40.5 𝑚𝑚
𝑒 = 51 𝑚𝑚

𝑋𝑐𝑔3 = 𝑒 𝑋𝑐𝑔3 = 51 𝑚𝑚
𝑌𝑐𝑔3 = 𝑑 𝑌𝑐𝑔3 = 40.5 𝑚𝑚
𝑍𝑐𝑔3 = 0

## 𝑀3 = 𝜌 ∙ 𝑉3 = (7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 )( 4.621 × 104 𝑚𝑚3 ) 𝑀3 = 0.360 𝐾𝑔

Determinamos los momentos de masa sobre lo ejes locales a través de los centros de gravedad.
𝑀3 2 0.360𝑘𝑔
𝐼𝑥 = (𝑎 + 𝑏 2 ) = (642 + 192 ) 𝐼𝑥 = 1.339 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑀3 2 0.360𝑘𝑔
𝐼𝑦 = (𝑎 + 𝑐 2 ) = (642 + 382 ) 𝐼𝑥 = 1.664 × 10−4 𝐾𝑔 ∙ 𝑚2
12 12
𝑀3 2 0.360𝑘𝑔
𝐼𝑧 = (𝑏 + 𝑐 2 ) = (192 + 382 ) 𝐼𝑧 = 5.421 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12

Dimensiones
𝑎 = 19 𝑚𝑚
𝑏 = 40.5 𝑚𝑚
𝑐 = 70 𝑚𝑚
𝑑 = 32 𝑚𝑚

## Determine la localización del centro de gravedad en

4∙𝑟 4 ∗ 32
𝑋𝐶𝐺4 = 𝑐 + = 70 + 𝑋𝐶𝐺4 = 83.581 𝑚𝑚
3𝜋 3∗𝜋
𝑌𝐶𝐺4 = 𝑏 𝑌𝐶𝐺4 = 40.5 𝑚𝑚
𝑍𝐶𝐺4 = 0

## Determine el volumen y la masa de este segmento.

𝜋 ∙ 𝑟2 𝜋 ∗ 322
𝑉4 = 𝑎 ∙ = 19 𝑉4 = 3.056 × 104 𝑚𝑚3
2 2
𝑀4 = 𝜌𝑉4 = (7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 )(3.056 × 104 𝑚𝑚3 ) 𝑀4 = 0.238 𝐾𝑔

Determine los momentos de masa sobre los ejes locales del segmento.
𝑀4 0.238𝑘𝑔
𝐼𝑥 = (3𝑟 2 + 𝑎2 ) = (3 ∗ 0.0322 + 0.0192 ) 𝐼𝑥 = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12
𝑀4 2 0.238 𝑘𝑔
𝐼𝑦 = ∙𝑟 = ∗ 0.0322 𝐼𝑥 = 1.221 × 10−4 𝐾𝑔 ∙ 𝑚2
2 2
𝑀4 0.238𝑘𝑔
𝐼𝑧 = (3𝑟 2 + 𝑎2 ) = (3 ∗ 0.0322 + 0.0192 ) 𝐼𝑧 = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2
12 12

## 𝐼𝑥𝑥4 = 𝐼𝑥 + 𝑀4 ∙ [(𝑌𝑐𝑔4 )2 + (𝑍𝑐𝑔4 )2 ] = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2 + 0.0238𝑘𝑔[(40.5 𝑚𝑚)2 + (02 )]

𝐼𝑥𝑥4 = 4.592 × 10−4 𝐾𝑔 ∙ 𝑚2

## 𝐼𝑦𝑦4 = 𝐼𝑦 + 𝑀4 ∙ [(𝑋𝑐𝑔4 )2 + (𝑍𝑐𝑔4 )2 ] = 1.221 × 10−4 𝐾𝑔 ∙ 𝑚2 + 0.238[(83.581 𝑚𝑚)2 + (02 )]

𝐼𝑦𝑦4 = 1.787 × 10−3 𝐾𝑔 ∙ 𝑚2

## 𝐼𝑧𝑧4 = 𝐼𝑧 + 𝑀4 ∙ [(𝑋𝑐𝑔4 )2 + (𝑌𝑐𝑔4 )2 ] = 6.82 × 10−5 𝐾𝑔 ∙ 𝑚2 + 0.238𝑘𝑔[(83.581 𝑚𝑚)2 + (40.5 𝑚𝑚)2 ]

𝐼𝑧𝑧4 = 2.124 × 10−3 𝐾𝑔 ∙ 𝑚2

## La siguiente parte es un cilindro negativo (ranura) cuyas dimensiones se muestran debajo.

𝑎 = 70 𝑚𝑚
𝑏 = 40.5 𝑚𝑚
𝑐 = 19 𝑚𝑚
𝑑 = 𝑟𝑎𝑑𝑖𝑜 = 13 𝑚𝑚

## Determine la localización del CG (centro de gravedad).

𝑋𝑐𝑔5 = 𝑎 𝑋𝑐𝑔5 = 70 𝑚𝑚
𝑌𝑐𝑔5 = 𝑏 𝑌𝑐𝑔5 = 40.5 𝑚𝑚
𝑍𝑐𝑔5 = 0

## Determine el volumen y la masa de este segmento.

𝑉5 = 𝑐 ∙ 𝜋 ∙ 𝑟 2 = ((19𝑚𝑚 ∗ 𝜋 ∗ (13𝑚𝑚)2 ) 𝑉5 = 1.009 × 104 𝑚𝑚3
𝑀5 = −𝜌 ∙ 𝑉5 = (7.797𝑥10−6 𝑘𝑔⁄𝑚𝑚3 )( 1.009 × 104 𝑚𝑚3 ) 𝑀5 = −0.079 𝐾𝑔

Determine los momentos de masa sobre los ejes locales del segmento.
𝑀5 −0.079𝑘𝑔
𝐼𝑥 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 0.0132 + 0.0192 )
12 12
𝐼𝑥 = −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2

𝑀5 2 −0.079𝑘𝑔
𝐼𝑦 = 𝑟 = (0.0132 ) 𝐼𝑥 = −6.649 × 10−6 𝐾𝑔 ∙ 𝑚2
2 2
𝑀5 −0.079𝑘𝑔
𝐼𝑧 = (3𝑟 2 + 𝑐 2 ) = (3 ∗ 0.0132 + 0.0192 ) 𝐼𝑥 = −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2
12 12

## 𝐼𝑥𝑥5 = 𝐼𝑥 + 𝑀5 ∙ [(𝑌𝑐𝑔5 )2 + (𝑍𝑐𝑔5 )2 ]

= −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2 + (−0.079𝑘𝑔)[(0.0405 𝑚𝑚)2 + (02 )]
𝐼𝑥𝑥5 = −1.348 × 10−4 𝐾𝑔 ∙ 𝑚2

## 𝐼𝑦𝑦5 = 𝐼𝑦 + 𝑀5 ∙ [(𝑋𝑐𝑔5 )2 + (𝑍𝑐𝑔5 )2 ] = −6.649 × 10−6 𝐾𝑔 ∙ 𝑚2 + (−0.079𝑘𝑔)[(0.070 𝑚𝑚)2 + (02 )]

𝐼𝑦𝑦5 = −3.922 × 10−4 𝐾𝑔 ∙ 𝑚2

## 𝐼𝑧𝑧5 = 𝐼𝑧 + 𝑀5 ∙ [(𝑋𝑐𝑔5 )2 + (𝑌𝑐𝑔5 )2 ]

= −5.691 × 10−6 𝐾𝑔 ∙ 𝑚2 + (−0.079𝑘𝑔)[(40.5 𝑚𝑚)2 + (0.0405 𝑚𝑚2 )]
𝐼𝑧𝑧5 = −5.203 × 10−4 𝐾𝑔 ∙ 𝑚2

## a) Encontrar la localización de su centroide referido al punto B.

∑𝑖 𝑋𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑋𝑐𝑔 =
∑𝑖 𝑀𝑖
(9.5 𝑚𝑚 ∗ 0.337𝑘𝑔) + (16.825 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (51 𝑚𝑚 ∗ 0.360𝑘𝑔) + (83.581 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(70𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑋𝑐𝑔 = 34.919 𝑚𝑚

∑𝑖 𝑌𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑌𝑐𝑔 =
∑𝑖 𝑀𝑖
((−1.069 𝑚𝑚) ∗ 0.337𝑘𝑔) + (33.175 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (40.5 𝑚𝑚 ∗ 0.360𝑘𝑔) + (40.5 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(40.5𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑌𝑐𝑔 = 26.688 𝑚𝑚

∑𝑖 𝑍𝑐𝑔𝑖 ∙ 𝑀𝑖
𝑍𝑐𝑔 =
∑𝑖 𝑀𝑖
(0𝑚𝑚) ∗ 0.337𝑘𝑔) + (0 𝑚𝑚 ∗ 0.335 𝐾𝑔) + (0𝑚𝑚 ∗ 0.360𝑘𝑔) + (0 𝑚𝑚 ∗ 0.238𝑘𝑔) +
(0 𝑚𝑚 ∗ −0.079 𝐾𝑔)
=
(0.337 + 0.335 + 0.360 + 0.238 + (−0.079)[𝑘𝑔]
𝑍𝑐𝑔 = 0

b) Encontrar su momento de masa de inercia 𝐼𝑥𝑥 sobre el eje X a través del punto B.
𝐼𝑥𝑥 = ∑ 𝐼𝑥𝑥𝑖
𝑖
𝐼𝑥𝑥 = 1.581 × 10−4 𝐾𝑔 ∙ 𝑚2 + 3.23 × 10−4 𝐾𝑔 ∙ 𝑚2 + 7.25 × 10−4 𝐾𝑔 ∙ 𝑚2 + 4.592 × 10−4 𝐾𝑔 ∙ 𝑚2
+ (−1.348 × 10−4 𝐾𝑔 ∙ 𝑚2 )
𝐼𝑥𝑥 = 1.531 × 10−3 𝐾𝑔 ∙ 𝑚2
c) Encontrar su momento de masa de inercia 𝐼𝑦𝑦 sobre el eje a través del punto B.
𝐼𝑦𝑦 = ∑ 𝐼𝑦𝑦𝑖 =
𝑖
𝐼𝑦𝑦 = 1.634 × 10−4 𝐾𝑔 ∙ 𝑚2 + 4.771 × 10−4 𝐾𝑔 ∙ 𝑚2 + 1.104 × 10−3 𝐾𝑔 ∙ 𝑚2 + 1.787 × 10−3 𝐾𝑔 ∙ 𝑚2
+ (−3.922 × 10−4 𝐾𝑔 ∙ 𝑚2 )

## 𝐼𝑦𝑦 = 2.976 × 10−3 𝐾𝑔 ∙ 𝑚2

Solución: Se elaboró una hoja de cálculo en Excel para calcular todos nuestros datos necesarios para
resolver el mecanismo. Esta se anexara en el correo.

## En Fourbar. Datos del programa:

La matriz

teniendo:

Datos iniciales:
(A - B) a:= 0.80·in (B - C) b := l.23·in
(C - D) c:=1.55·in (A - D) d := 2.40·in
Link 2 angle: 82 := 49·deg
Distancia desde el punto de fuerza hasta el perno D:

## RP4 := 1.00·in 84 := O·deg

Fuerza ejercida: FP4 := 2000·/bf (perpendicular al enlace 4)
Distancia del mango al perno A: Rn := 4.26·in

Solucion:
1. Lo que vamos a hacer es introducir los valores que anteriormente pudimos identificar en una tabla que se
programó en Excel 2013 para determinar los enlaces 3 y 4 junto con sus ángulos así como calcular el ángulo de
𝜃3 := 34.039·deg 𝜃3 := 123.518·deg

## BFP4 := 84 + 90·deg BFP4 = 2l3.518deg

2. Determinaremos la distancia hasta el centro de gravedad en el LSCR en cada enlace móvil
Enlace 2 y 4: Rcc2 := 0.5 ·a Rcc2 = 0.400 in RcG4 := 0.5 ·e Rcc 4 = o.775 in
Enlace 3: RcG3 := 0.5·b RcG3 = 0.615 in
2. Calcular las componentes X e Y de los vectores de posicion.

## R32x := Rcc2·cos( 02)

R32x = 0.262 in
R12y := Rcc2·sin( 82)
R12y = 0.302 in
R23x := RcGJ·cos(e3 + 180·deg)
R23x = --0.51O in
R23y := RcGJ·sin(03 + 180·deg)
R13y = --0.344 in
R43x := (b - RcG3)·cos(e3)
R43x = 0.510 in
R43y := (b - RcGJ)·sin(e3)
R43y = 0.344 in

R34x = --0.428 in
R14y := Rcc4·sin(e4)
R34y = 0.646 in
Rux := Rcc4·cos(e4 + 180·deg)
R¡4x = 0.428 in
R14y := Rcc4·sin(04 + 180·deg)
R14y = --0.646 in
Rny := (Rn + RcG2)·sin(e2 + 180·deg)
Rny = -3.517 in
Rnx := (Rn + RcG2)·cos(e2 + 180-deg) Rnx = -3.057 in

## RP4y := (RP4 - Rca4)·sin(e4) RP4y = 0.188 in

3. En este paso vamos a calcular las componentes en x
FP4x := FP4·cos( BFP4) FP4x = -1667.4/bf

## FP4y := FP4·sin( BFP4) Fp4y = -1104.4/bf

5. Sustituir estos valores dados y calculados en la ecuación matricial modificado términos de masa e inercia
O o O o o o 1 o
O o O o o o o 1
-R12y R¡2x -R32y R32x Rnx -Rny
o o o o
in in in in in in
o o -1 o o o o o o
o o o -1 o o o o o
R13y -R23x -R43y R43x
C·- o o o o o o
in in in in
o o o o -1 o o o o
o o o o o -1 o o o
o o o o R34y -R34x -R14y Rux
o o
in in in in

o o o o o o o o lan(02 + ) -1

o
o
o
o
o
o -1
F .- R:=C ·F
-1
-FP4x·lbf
-1
-FP4y-lbf
-1 -1
(-RP4x·FP4y + RP4y-FP4x )·lbf ·in

F12x := Rt"lbf F12x = 1029 lbf F12y := Rf lbf F12y = 757 lbf

## F32x := RJ°lbf F32x = -1069/bf F32y := R4°/bf F32y = -722/bf

F43x := R 5 ·lbf F43x = -1069 lbf F43y := R 6 ·lbf F43y = -722/bf

F 14x := Ri lbf Fux = 598 lbf F14y := R 8 ·lbf Fuy = 382 lbf

mango.
Fhand = 53.l lbf
.
JFI = 0.645