Etude du mécanisme R-RRT
Généralités sur le mécanisme R-RRT:
Schéma :
![](https://1.bp.blogspot.com/-K4c6f5dHXeE/WGFpfsa5ozI/AAAAAAAAN9Y/BzdhMDO5NzQZUdoJqeSTEXtSnBuP5V4dQCLcB/s320/image002.gif)
La constitution de ces mécanismes est obtenue en superposant les dyades à un élément menant (driver) qui peut être rotatoire ou un élément de translation, dans ce cas de figure on a superposé un élément rotatoire avec une dyade RRT.
Quelques types de dyades:
![](https://2.bp.blogspot.com/-be0g3LreYEw/WGFpfh6BVZI/AAAAAAAAN9Q/HxjQ-LcFclgIueH04gtkgMj38lFZfG1sQCLcB/s1600/image003.jpg)
![](https://1.bp.blogspot.com/-ekNJrRnQOVw/WGFpf9c8CPI/AAAAAAAAN9c/Mf8iWuVUgDYcMsl6GkezZa7u5HD3cV8rACLcB/s1600/image004.jpg)
![](https://2.bp.blogspot.com/-9B4Qf9OEkto/WGFpfwxCjQI/AAAAAAAAN9g/fWjyE2GPvAkYR3qAzUn8_fFIO2yzmsvXgCLcB/s1600/image005.jpg)
![](https://2.bp.blogspot.com/-jvKiTs43LP4/WGFpf_U-BQI/AAAAAAAAN9k/MjczULywObAt2G17J5ZdRdp6xN2YObcLQCLcB/s1600/image006.jpg)
Le mécanisme R-RRT (slider crank) permet de transmettre un mouvement de rotation en un mouvement de translation et vice versa.
![*](https://2.bp.blogspot.com/-pZxTo104yaw/WGFpfqYx2rI/AAAAAAAAN9U/Fz5MLX_y_oIyk-3sxPJNn0fcdv8d73PJwCLcB/s1600/image001.gif)
![](https://2.bp.blogspot.com/-K1HXEVAyMo4/WGFpgN5cXoI/AAAAAAAAN9o/S8hhBWLh32owfHuCOM39Wqpts3KFJ8qmgCLcB/s1600/image007.jpg)
Problème à résoudre:
![](https://2.bp.blogspot.com/-QAwxwMXvhZw/WGFpgbyhX2I/AAAAAAAAN9s/eJQqGqd6qTEVpB3_glurZ4AK4lUwyjD2ACLcB/s1600/image008.jpg)
AB=0.1 m
BC=0.2m
n=1tr/s
Il s'agit d'un mécanisme R-RRT (slider crank),il est demandé de calculer les différents paramètres à savoir:
![](https://2.bp.blogspot.com/-pZxTo104yaw/WGFpfqYx2rI/AAAAAAAAN9U/Fz5MLX_y_oIyk-3sxPJNn0fcdv8d73PJwCLcB/s1600/image001.gif)
![](https://2.bp.blogspot.com/-pZxTo104yaw/WGFpfqYx2rI/AAAAAAAAN9U/Fz5MLX_y_oIyk-3sxPJNn0fcdv8d73PJwCLcB/s1600/image001.gif)
![](https://2.bp.blogspot.com/-pZxTo104yaw/WGFpfqYx2rI/AAAAAAAAN9U/Fz5MLX_y_oIyk-3sxPJNn0fcdv8d73PJwCLcB/s1600/image001.gif)
![](https://2.bp.blogspot.com/-pZxTo104yaw/WGFpfqYx2rI/AAAAAAAAN9U/Fz5MLX_y_oIyk-3sxPJNn0fcdv8d73PJwCLcB/s1600/image001.gif)
I. Etude analytique :
I. Partie théorique :
![](https://2.bp.blogspot.com/-MZSNhWdt9kA/WGFpgooYD-I/AAAAAAAAN90/ITkvCeuzKxo4aapJ3wE36Qf_1BF5dKOAQCLcB/s1600/image009.gif)
Données :
AB=0.1m
BC=0.2M
h=1tr/s
Un système de coordonnées cartésiennes d’origine en A est sélectionné.
- Positions :
Les coordonnées de A sont :
=
=0
![](https://1.bp.blogspot.com/-zv_e8HsLZMU/WGFpgn9-mjI/AAAAAAAAN94/1CHwdj15RvocjiADZFtzetGS9_W0bQVVwCLcB/s1600/image011.gif)
![](https://1.bp.blogspot.com/-VwOT1n1q3SY/WGFpg6hYwYI/AAAAAAAAN98/DjCXhDHvGGU_ceRz-95C8p-soCSHaT4EACLcB/s1600/image012.gif)
Pour le point C on a :
=0
![](https://2.bp.blogspot.com/-frLgyTs1mN4/WGFpg8KoNFI/AAAAAAAAN-A/RzXuxNq4hAEPAndProGCimvMa-UBKBcGwCLcB/s1600/image013.gif)
![](https://2.bp.blogspot.com/-lfVdnYGViSE/WGFpgxiZRPI/AAAAAAAAN-E/b2sS9_P3j78_pgcH85NcUevW_TAHeNy1wCLcB/s1600/image014.gif)
![](https://1.bp.blogspot.com/-XaBiXZpGBIM/WGFphOR7U7I/AAAAAAAAN-I/buwpEYUrygcAkGVoxf5mnolG4gEewRViwCLcB/s1600/image015.gif)
![](https://4.bp.blogspot.com/-leVLpksjQ3U/WGFphGfj36I/AAAAAAAAN-M/rjvLejNTl74hFftm4qIcat0qbtIXx39gQCLcB/s1600/image016.gif)
![](https://4.bp.blogspot.com/-6Lz_wvCmSWA/WGFphRrTHoI/AAAAAAAAN-Q/NL1RAITduPskQGkJnAy5bCbP2k-tPiZoQCLcB/s1600/image017.gif)
![](https://2.bp.blogspot.com/-0-a4cYmtArQ/WGFpheSZ_MI/AAAAAAAAN-U/nXTHeDjTmPYSIVjem8I3mQAM3MO-KPGHACLcB/s1600/image018.gif)
![](https://1.bp.blogspot.com/-Sg0eFXNZZYo/WGFphd4g1OI/AAAAAAAAN-Y/uhw0--DGC1gGLwLID7WWKhLdwsrNfG3-QCLcB/s1600/image019.gif)
![](https://2.bp.blogspot.com/-hfJ3AHbsj-s/WGFphiRvJRI/AAAAAAAAN-c/rO8Lbs2RHMA_HIQPwkq2DeRHp56iQuwcQCLcB/s1600/image020.gif)
![](https://4.bp.blogspot.com/-6Lz_wvCmSWA/WGFphRrTHoI/AAAAAAAAN-Q/NL1RAITduPskQGkJnAy5bCbP2k-tPiZoQCLcB/s1600/image017.gif)
![](https://1.bp.blogspot.com/-MUadfCKiZ_Y/WGFphg8Wt4I/AAAAAAAAN-g/cIwsQNhuCW08BKBHiaUY9slGbCyFT_ugACLcB/s1600/image021.gif)
![](https://2.bp.blogspot.com/-hfJ3AHbsj-s/WGFphiRvJRI/AAAAAAAAN-c/rO8Lbs2RHMA_HIQPwkq2DeRHp56iQuwcQCLcB/s1600/image020.gif)
![](https://2.bp.blogspot.com/-UK7q7oxubro/WGFphgU39iI/AAAAAAAAN-k/h9mzp1Y_MKg6nh7xcHaLKVI485SK1I3ewCLcB/s1600/image022.gif)
![](https://1.bp.blogspot.com/-NSsRhSqoFIg/WGFph_wUkHI/AAAAAAAAN-o/zg1I4e1Fn2ophDVEff2A0ibWL_VyfvSMgCLcB/s1600/image023.gif)
![](https://1.bp.blogspot.com/-AifX2yRh9dM/WGFph11YruI/AAAAAAAAN-s/Bpb0Gn-wnW44HDHwQ_he5hHdOIkO41r9gCLcB/s1600/image024.gif)
![](https://4.bp.blogspot.com/-VfDkTc0YhyE/WGFpiMaWcOI/AAAAAAAAN-w/xc22cuyohu8Bh-LIINyN5QfoeH85HQ3ZgCLcB/s1600/image025.gif)
![](https://4.bp.blogspot.com/-ZnZ4jkf4Lw0/WGFpiGvzc-I/AAAAAAAAN-0/dX6aVkBpF302NO3NiF-D-j1gWoPtY99CACLcB/s1600/image026.gif)
Alors
=
![](https://3.bp.blogspot.com/-UrprBDhGxf8/WGFpiWjCnhI/AAAAAAAAN_A/T9BU4B-87JsTxxnAizXLWmjyYrMMaoX5ACLcB/s1600/image029.gif)
![](https://2.bp.blogspot.com/-2ASxIFZBQBY/WGFpiFArzHI/AAAAAAAAN-4/g3zOe5u5IG0n-huq-loOJ9VUBohvVfIEgCLcB/s1600/image027.gif)
![](https://4.bp.blogspot.com/-76422LaVtpM/WGFpiAjFVCI/AAAAAAAAN-8/d9k5Iu7gm8A5kz8J1p6_PjlusW2yG4hnQCLcB/s1600/image028.gif)
![](https://3.bp.blogspot.com/-UrprBDhGxf8/WGFpiWjCnhI/AAAAAAAAN_A/T9BU4B-87JsTxxnAizXLWmjyYrMMaoX5ACLcB/s1600/image029.gif)
![](https://4.bp.blogspot.com/-MubAN2_bF80/WGFpiiPrlzI/AAAAAAAAN_E/9YeSP5U6O28hvt3cfeKSYrzg8bBvQJMnwCLcB/s1600/image030.gif)
![](https://1.bp.blogspot.com/-JmRI4UKroho/WGFpipJOo9I/AAAAAAAAN_I/F91l5GDjaO4PmkUGRkjLvEXXWbYqK0P0QCLcB/s1600/image031.gif)
![](https://3.bp.blogspot.com/-v-0DAbc78hE/WGFpig-8_hI/AAAAAAAAN_M/MAYoD8pU_5c3OiUauYU6C_bErQxabAkGwCLcB/s320/image032.gif)
- Vitesses :
![](https://2.bp.blogspot.com/-oU7Pf5Zr7G0/WGFpiwvHvrI/AAAAAAAAN_Q/SmnGsjF1NUs0EXmPz0Al1t_R7WeyRpwfwCLcB/s1600/image033.gif)
![](https://1.bp.blogspot.com/-DEouSoNiKEE/WGFpi_31k-I/AAAAAAAAN_c/yzoCpbI0RiQHfQp2JefNDI6v-Nu-zdQYwCLcB/s1600/image034.gif)
![](https://1.bp.blogspot.com/-NGtUfVC1_vA/WGFpjCKDy6I/AAAAAAAAN_U/n6X1FgHfWj4YJaWaCQ5kDGWqOfTWgElkgCLcB/s1600/image035.gif)
![](https://1.bp.blogspot.com/-uozp5Gmr3EA/WGFpjH3Tk4I/AAAAAAAAN_Y/TaSN6tvZmdQKvJ8epERu1cFUKLElBYgNACLcB/s1600/image036.gif)
à
![](https://1.bp.blogspot.com/-Sg0eFXNZZYo/WGFphd4g1OI/AAAAAAAAN-Y/uhw0--DGC1gGLwLID7WWKhLdwsrNfG3-QCLcB/s1600/image019.gif)
![](https://2.bp.blogspot.com/-hfJ3AHbsj-s/WGFphiRvJRI/AAAAAAAAN-c/rO8Lbs2RHMA_HIQPwkq2DeRHp56iQuwcQCLcB/s1600/image020.gif)
![](https://2.bp.blogspot.com/-UK7q7oxubro/WGFphgU39iI/AAAAAAAAN-k/h9mzp1Y_MKg6nh7xcHaLKVI485SK1I3ewCLcB/s1600/image022.gif)
![](https://1.bp.blogspot.com/-fQtUokFqwTU/WGFpjY8EI3I/AAAAAAAAN_g/pE-6eDlnSfYUBPvAlLFgoRClb5Jlh4NtQCLcB/s1600/image037.gif)
![](https://3.bp.blogspot.com/-KTcDKV56qHQ/WGFpjUIPzYI/AAAAAAAAN_k/Y5_QS_1zg7U-l-hakucmwcRwYlqGAWCNQCLcB/s1600/image038.gif)
![](https://4.bp.blogspot.com/-8L_6AVVl39k/WGFpjhufZuI/AAAAAAAAN_o/ICWpilK_MckBWJ0nETLshSFUfBKET7HowCLcB/s1600/image039.gif)
D’où ![](https://3.bp.blogspot.com/-tMDgadCjHyY/WGFpjvyWk6I/AAAAAAAAN_s/AUvH17QsYEYyaeopYHQhVS75jy3jEiXAACLcB/s1600/image040.gif)
![](https://3.bp.blogspot.com/-tMDgadCjHyY/WGFpjvyWk6I/AAAAAAAAN_s/AUvH17QsYEYyaeopYHQhVS75jy3jEiXAACLcB/s1600/image040.gif)
![](https://3.bp.blogspot.com/-zNey-jmfhP4/WGFpjnrzGrI/AAAAAAAAN_w/R63HYt577p0U3zL8aulITe0_hGqMs7nIwCLcB/s1600/image041.gif)
![](https://4.bp.blogspot.com/-G7ltDeHbta4/WGFpj0r_stI/AAAAAAAAN_0/aRzD8VDpnjgNev4ikASSwEvvRuFe9TzqQCLcB/s1600/image042.gif)
Pour calculer la vitesse au point C on dérive l’équation 2
![](https://4.bp.blogspot.com/-N1H90snQZcI/WGFpj9d-pxI/AAAAAAAAN_4/K-7jddv14wY5ZzLnDq2_4c9nYkqGQYicwCLcB/s1600/image043.gif)
![](https://1.bp.blogspot.com/-i3_5ZkU_NLA/WGFpkBMQUCI/AAAAAAAAN_8/sTgbjWM6oxsQaFSKcIRMH8EJg6y1PPMrACLcB/s1600/image044.gif)
A .N ![](https://2.bp.blogspot.com/--Kt7xJSY4sE/WGFpkF1VDLI/AAAAAAAAOAA/cj4DQeyvv1AERvY1pyZRt6KBdU5oVdsSACLcB/s1600/image045.gif)
![](https://2.bp.blogspot.com/--Kt7xJSY4sE/WGFpkF1VDLI/AAAAAAAAOAA/cj4DQeyvv1AERvY1pyZRt6KBdU5oVdsSACLcB/s1600/image045.gif)
- Accélérations :
Pour calculer l’accélération au point B on dérive 2 fois le système suivant :
![](https://3.bp.blogspot.com/-yfqNhIu5mto/WGFpkT4srvI/AAAAAAAAOAE/defjO0GdBv8G4CsfZy443Zb8mJigCa6oQCLcB/s1600/image046.gif)
![](https://4.bp.blogspot.com/-DKcs1jMf3hI/WGFpkdQ8w0I/AAAAAAAAOAI/X8U2MsE1a7gr967PvuBKvUi0l0gIH2yzwCLcB/s1600/image047.gif)
![](https://3.bp.blogspot.com/-9hVEklAl8V8/WGFpkdvGjnI/AAAAAAAAOAM/4j6OB1zv6iYMutjLITxdtS_rVb7natUeACLcB/s1600/image048.gif)
On trouve
![](https://4.bp.blogspot.com/-t9OIb7GWJcU/WGFpkp29t7I/AAAAAAAAOAQ/GQbFgGcKuWUSWDJBMLuL0evzFR-bYTDHgCLcB/s1600/image049.gif)
![](https://4.bp.blogspot.com/-bQ6UWm8jrjE/WGFpki4NcpI/AAAAAAAAOAU/DZci7TaDr4wAXusemoIRGCJidQZqn0bnACLcB/s1600/image050.gif)
![](https://4.bp.blogspot.com/-KSCAZlN3NUw/WGFpksge1uI/AAAAAAAAOAY/vzNEkbYtv24N0k4ldFEkevP9AWvpIjmaQCLcB/s1600/image051.gif)
![](https://1.bp.blogspot.com/-laOFA0nJdRQ/WGFpk7bztZI/AAAAAAAAOAk/xu8Z-7sPijgoOdANX7X1uVsbsZGGax5jACLcB/s1600/image052.gif)
![](https://1.bp.blogspot.com/-hmP9hEoD9Js/WGFpk1nR_wI/AAAAAAAAOAc/MVi_smCQ9UEi2N2Vc-M6QTdU7KltSySrgCLcB/s1600/image053.gif)
![](https://3.bp.blogspot.com/--DOHYZq1bb8/WGFplC-13zI/AAAAAAAAOAg/HYXdLvihKBYu3viLm8qFPhJP9MbaymRQACLcB/s1600/image054.gif)
![](https://1.bp.blogspot.com/-cQtF7CsSak4/WGFplS_A2OI/AAAAAAAAOAo/YXmFUJtFcqU9VI5YnVJbbb3ALU6kjV8kACLcB/s1600/image055.gif)
![](https://2.bp.blogspot.com/-uuNltZ0NL-A/WGFplZWKCEI/AAAAAAAAOAs/3qIfhhYDjUwhe3EBdzG-3eZ9ZB1kTdS0QCLcB/s1600/image056.gif)
![](https://4.bp.blogspot.com/-T_PF7Du6D1s/WGFplS_JfVI/AAAAAAAAOAw/PLh30qI-TqAGei3_1Q7HuR3AvX6O4eHLgCLcB/s1600/image057.gif)
On remplace 5 dans 4 on obtient ![](https://4.bp.blogspot.com/-9MbXWXSlzCk/WGFplvwn-cI/AAAAAAAAOA0/p1hMSv5mX-I4H3tsJ9-JNGvM6f-SP9w0QCLcB/s1600/image058.gif)
![](https://4.bp.blogspot.com/-9MbXWXSlzCk/WGFplvwn-cI/AAAAAAAAOA0/p1hMSv5mX-I4H3tsJ9-JNGvM6f-SP9w0QCLcB/s1600/image058.gif)
A.N ![](https://4.bp.blogspot.com/-sROvYh8CvOM/WGFplqEKb6I/AAAAAAAAOA4/2ISIiXW3xqktwMvze60K8scXtJ6zTP5agCLcB/s1600/image059.gif)
![](https://4.bp.blogspot.com/-sROvYh8CvOM/WGFplqEKb6I/AAAAAAAAOA4/2ISIiXW3xqktwMvze60K8scXtJ6zTP5agCLcB/s1600/image059.gif)
![](https://3.bp.blogspot.com/-3LnAJiW75fw/WGFpl9DW4sI/AAAAAAAAOA8/bK9G_QL2wzwY5lFKVbikEglRLW7sr0XogCLcB/s1600/image060.gif)
Pour calculer l’accélération au point C on dérive 2 fois l’équation 2
![](https://2.bp.blogspot.com/-Hnj6gbEYQLc/WGFpl9MesKI/AAAAAAAAOBA/d6twd4cj0lMJAE24fwOmXN3jHBnav5YbACLcB/s1600/image061.gif)
A.N :
= 0
![](https://2.bp.blogspot.com/-QAYM_sZf1j0/WGFpl1XUroI/AAAAAAAAOBE/N86kxUXYsP4vo64hgUXd13kYdjqqsUO3ACLcB/s1600/image062.gif)
![](https://2.bp.blogspot.com/-3u4KJwLP8mU/WGFpmFLYtiI/AAAAAAAAOBI/sI7Vq9fIWEkX-8mzwRIg8bGeGRZZ0k0uQCLcB/s1600/image063.gif)
![](https://2.bp.blogspot.com/-97_Y-XRa5sM/WGFpme8X_hI/AAAAAAAAOBM/Lz9NoYAhZgUs2tHcv-3jVs--7fbeS1pXQCLcB/s1600/image064.gif)
![](https://1.bp.blogspot.com/-CFGdkHjIGys/WGFpmYAnrjI/AAAAAAAAOBQ/WdUZdB-JqRQOlYkytCkIm7eIxmWMFccRACLcB/s1600/image065.gif)
![](https://2.bp.blogspot.com/-zFUdbcFQgZo/WGFpmT3ZJGI/AAAAAAAAOBU/6GBc__B0EswzhaWMvaPOzplyeTs9ureGwCLcB/s1600/image066.gif)
II. Etude du mécanisme dans Catia :
Etape 1 : création des éléments d’assemblage :
![](https://4.bp.blogspot.com/-jxve_snLKeY/WGFpmnsIVGI/AAAAAAAAOBY/JjBWUWJ74uklvnjFNVXMQG4BbqoqWZjBgCLcB/s1600/image067.jpg)
![](https://4.bp.blogspot.com/-pczOSt8Q-m4/WGFpmznXzjI/AAAAAAAAOBc/-ophx0j9nOITPgRCSvIz4B-MVSghWbVKQCLcB/s1600/image068.jpg)
![](https://4.bp.blogspot.com/-lDKW71OMMiQ/WGFpmz85hyI/AAAAAAAAOBg/GKhbflxYOUgr08wLN4KuN87krjENfaogwCLcB/s1600/image069.jpg)
![](https://2.bp.blogspot.com/-h5p1adVVOMY/WGFpnLPFECI/AAAAAAAAOBk/9LaBI5UxIF8bLtHSmUB6xxbZzf05OiUlgCLcB/s1600/image070.jpg)
Etape 2 : assemblage :
![](https://1.bp.blogspot.com/-I59tjig-ark/WGFpnaNEWFI/AAAAAAAAOBo/EnLw8JX494IgcdS5iLWsxhF1MCEniad7wCLcB/s1600/image071.jpg)
Etape 3 : simulation :
Resultat :
La postion du point C :
![](https://3.bp.blogspot.com/-2WsOtWH2MeI/WGFpndb7dsI/AAAAAAAAOBs/kEKK0XYjyVU-48-Jh_QZ457MdBDARd4FgCLcB/s1600/image072.jpg)
La vitesse :
![](https://1.bp.blogspot.com/-q-23ki3AtLQ/WGFpnhjTrvI/AAAAAAAAOBw/mASSvj8CgbwDVldSDZFgsIOz8AhrQcEcgCLcB/s1600/image073.jpg)
L’accélération :
![](https://2.bp.blogspot.com/-WhocIMc3Ryk/WGFpn0WryXI/AAAAAAAAOB0/Af0qZHKh4qQ64C5PsB2bkfG0fQ7DHbrqACLcB/s1600/image074.jpg)
III. Etude sous MATLAB :
clear; clc; close all;
AB=0.1;
BC=0.2;
N=1;
tmin=0;
tmax=1;
n=100;
h=(tmax-tmin)/n;
t=tmin:h:tmax;
%position du couple cinématique en A(origine)
XA=0;
YA=0;
%position du couple cinématique en B
XB=XA+AB*cos(2*pi*N*t);
YB=YA+AB*sin(2*pi*N*t);
% position du couple cinématique en C
YC=0;
L=(BC.^2)-(YB.^2);
XC=XB+sqrt(L);
%orientation des éléments 2
phi2=atan((YB-YC)/(XB-XC));
% vitesse du couple cinématique en A
UA=0;
VA=0;
% vitesse du couple cinématique en B
UB=-AB*2*pi*N*sin(2*pi*N*t);
VB=AB*2*pi*N*cos(2*pi*N*t);
%vitesse du couple cinématique en C
VC=0;
K=XB-XC;
UC=UB+VB.*(YB./K);
% accélération du couple cinématique en A
SA=0;
WA=0;
% accélération du couple cinématique en B
SB=-AB*.4*pi.^2*N.^2*cos(2*pi*N*t);
WB=-AB*.4*pi.^2*N.^2*sin(2*pi*N*t);
% accélération du couple cinématique en C :j'ai essayé avec ces équations
% mais maltlab ne repond pas
WC=0;
%SC=(SB+(WB.*(XB./K))+(VB.*((XB.*UC-XC.*UB)./K.^2)));
SC=(1./K).*(UC.^2+VB.^2-2*UC.*UB+UB.^2+K.*SB+YB.*WB+VB.*XB);
% l'affichage des résultats
fprintf('Resultas pour une angle phi quelconque\n\n');
%affichage des coordonnées de B
fprintf('la position du point B:\n');
fprintf('XB=%g(m)\n',XB);
fprintf('YB=%g(m)\n',YB);
fprintf('\n\n');
%affichage des vitesses de B
fprintf('la vitesse du point B:\n');
fprintf('UB=%g(m/s)\n',UB);
fprintf('VB=%g(m/s)\n',VB);
fprintf('\n\n');
%affichage des accélérations de B
fprintf('accélération du point B:\n');
fprintf('SB=%g(m/s^2)\n',SB);
fprintf('WB=%g(m/s^2)\n',WB);
fprintf('\n\n');
%affichage des coordonnées de C
fprintf('la position du point C:\n');
fprintf('XC=%g(m)\n',XC);
fprintf('YC=%g(m)\n',YC);
fprintf('\n\n');
%affichage des vitesses de C
fprintf('la vitesse du point C:\n');
fprintf('UC=%g(m/s)\n',UC);
fprintf('VC=%g(m/s)\n',VC);
fprintf('\n\n');
%affichage des accélérations de C
fprintf('accélération du point C:\n');
fprintf('SC=%g(m/s^2)\n',SC);
fprintf('WC=%g(m/s^2)\n',WC);
fprintf('\n\n');
%affichage de l'orientation des éléments
fprintf('angle_orientation:\n');
fprintf('phi2=%g(degres)',phi2*180/pi);
disp(t);
plot(t,XC,'r-');
hold on;
plot(t,UC,'b-');
hold on;
plot(t,SC,'g-');
xlabel('Temps t','FontSize',16);
ylabel('Position-vitesse- accélération du point C','FontSize',14);
legend('position ','vitesse','accélération',8);
title('analyse de la position- vitesse et accélération','FontSize',16);
axis([0 1 -3 2]);
grid
![](https://3.bp.blogspot.com/-TMPWJwafqXs/WGFpn1ivVXI/AAAAAAAAOB4/mo3BpcgyKLcDlkZo9dHza09DWG0XL_74ACLcB/s1600/image075.gif)
Commentaires
Enregistrer un commentaire