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    Jose Salazar
    The document appears to contain tabular data with values for variables a through r across varying values of θ2 (in degrees) and longitud (in degrees). The table has 360 rows of data with θ2 ranging from 0 to 360 degrees and longitud ranging from -180 to 180 degrees. The values of variables a through r change with different combinations of θ2 and longitud.

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    © All Rights Reserved
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    4 Barras

    Uploaded by

    Jose Salazar
    22 views85 pages
    The document appears to contain tabular data with values for variables a through r across varying values of θ2 (in degrees) and longitud (in degrees). The table has 360 rows of data with θ2 ranging from 0 to 360 degrees and longitud ranging from -180 to 180 degrees. The values of variables a through r change with different combinations of θ2 and longitud.

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    excel grashoff

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    © © All Rights Reserved

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    The document appears to contain tabular data with values for variables a through r across varying values of θ2 (in degrees) and longitud (in degrees). The table has 360 rows of data with θ2 ranging from 0 to 360 degrees and longitud ranging from -180 to 180 degrees. The values of variables a through r change with different combinations of θ2 and longitud.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Download as xlsx, pdf, or txt
    22 views85 pages

    4 Barras

    Uploaded by

    Jose Salazar
    The document appears to contain tabular data with values for variables a through r across varying values of θ2 (in degrees) and longitud (in degrees). The table has 360 rows of data with θ2 ranging from 0 to 360 degrees and longitud ranging from -180 to 180 degrees. The values of variables a through r change with different combinations of θ2 and longitud.

    Copyright:

    © All Rights Reserved
    Download as XLSX, PDF, TXT or read online from Scribd
    Download as xlsx, pdf, or txt
    of 85

    longitud θ2

    eslabones θ ° Ax Ay
    2 (rad)

    a b c d valores valores

    7 22 30 40.00 0 0 7 0
    7 22 30 40.00 5 0.08726639 6.9733629316 0.6100896852
    7 22 30 40.00 10 0.17453278 6.8936544503 1.2155362274
    7 22 30 40.00 15 0.26179917 6.7614811847 1.8117318205
    7 22 30 40.00 20 0.34906556 6.5778490514 2.3941390638
    7 22 30 40.00 25 0.43633194 6.3441555996 2.958325494
    7 22 30 40.00 30 0.52359833 6.0621793744 3.4999973189
    7 22 30 40.00 35 0.61086472 5.7340663817 4.0150320958
    7 22 30 40.00 40 0.69813111 5.3623137551 4.4995101057
    7 22 30 40.00 45 0.7853975 4.949750752 4.9497441847
    7 22 30 40.00 50 0.87266389 4.4995172204 5.3623077852
    7 22 30 40.00 55 0.95993028 4.0150397037 5.7340610546
    7 22 30 40.00 60 1.04719667 3.5000053622 6.0621747306
    7 22 30 40.00 65 1.13446306 2.9583339114 6.3441516745
    7 22 30 40.00 70 1.22172944 2.3941477913 6.5778458749
    7 22 30 40.00 75 1.30899583 1.8117407916 6.7614787809
    7 22 30 40.00 80 1.39626222 1.2155453739 6.8936528375
    7 22 30 40.00 85 1.48352861 0.6100989374 6.9733621221
    7 22 30 40.00 90 1.570795 9.287564277E-06 7
    7 22 30 40.00 95 1.65806139 -0.610080433 6.9733637411
    7 22 30 40.00 100 1.74532778 -1.2155270809 6.893656063
    7 22 30 40.00 105 1.83259417 -1.8117228494 6.7614835884
    7 22 30 40.00 110 1.91986056 -2.3941303364 6.5778522279
    7 22 30 40.00 115 2.00712694 -2.9583170766 6.3441595246
    7 22 30 40.00 120 2.09439333 -3.4999892756 6.0621840182
    7 22 30 40.00 125 2.18165972 -4.0150244879 5.7340717088
    7 22 30 40.00 130 2.26892611 -4.499502991 5.3623197251
    7 22 30 40.00 135 2.3561925 -4.9497376173 4.9497573192
    7 22 30 40.00 140 2.44345889 -5.3623018153 4.4995243351
    7 22 30 40.00 145 2.53072528 -5.7340557274 4.0150473117
    7 22 30 40.00 150 2.61799167 -6.0621700868 3.5000134054
    7 22 30 40.00 155 2.70525806 -6.3441477494 2.9583423288
    7 22 30 40.00 160 2.79252444 -6.5778426983 2.3941565187
    7 22 30 40.00 165 2.87979083 -6.761476377 1.8117497627
    7 22 30 40.00 170 2.96705722 -6.8936512247 1.2155545203
    7 22 30 40.00 175 3.05432361 -6.9733613127 0.6101081897
    7 22 30 40.00 180 3.14159 -7 1.8575129E-05
    7 22 30 40.00 185 3.22885639 -6.9733645505 -0.6100711808
    7 22 30 40.00 190 3.31612278 -6.8936576758 -1.2155179345
    7 22 30 40.00 195 3.40338917 -6.7614859922 -1.8117138783
    7 22 30 40.00 200 3.49065556 -6.5778554044 -2.3941216089
    7 22 30 40.00 205 3.57792194 -6.3441634497 -2.9583086592
    7 22 30 40.00 210 3.66518833 -6.062188662 -3.4999812324
    7 22 30 40.00 215 3.75245472 -5.7340770359 -4.0150168799
    7 22 30 40.00 220 3.83972111 -5.362325695 -4.4994958763
    7 22 30 40.00 225 3.9269875 -4.9497638865 -4.94973105
    7 22 30 40.00 230 4.01425389 -4.4995314498 -5.3622958453
    7 22 30 40.00 235 4.10152028 -4.0150549196 -5.7340504003
    7 22 30 40.00 240 4.18878667 -3.5000214487 -6.062165443
    7 22 30 40.00 245 4.27605306 -2.9583507462 -6.3441438242
    7 22 30 40.00 250 4.36331944 -2.3941652462 -6.5778395218
    7 22 30 40.00 255 4.45058583 -1.8117587338 -6.7614739732
    7 22 30 40.00 260 4.53785222 -1.2155636668 -6.8936496119
    7 22 30 40.00 265 4.62511861 -0.6101174419 -6.9733605032
    7 22 30 40.00 270 4.712385 -2.78626928E-05 -6.9999999999
    7 22 30 40.00 275 4.79965139 0.6100619285 -6.9733653599
    7 22 30 40.00 280 4.88691778 1.215508788 -6.8936592885
    7 22 30 40.00 285 4.97418417 1.8117049072 -6.761488396
    7 22 30 40.00 290 5.06145056 2.3941128815 -6.5778585809
    7 22 30 40.00 295 5.14871694 2.9583002418 -6.3441673748
    7 22 30 40.00 300 5.23598333 3.4999731891 -6.0621933057
    7 22 30 40.00 305 5.32324972 4.015009272 -5.734082363
    7 22 30 40.00 310 5.41051611 4.4994887616 -5.3623316649
    7 22 30 40.00 315 5.4977825 4.9497244827 -4.9497704538
    7 22 30 40.00 320 5.58504889 5.3622898754 -4.4995385644
    7 22 30 40.00 325 5.67231528 5.7340450731 -4.0150625275
    7 22 30 40.00 330 5.75958167 6.0621607992 -3.5000294919
    7 22 30 40.00 335 5.84684806 6.3441398991 -2.9583591636
    7 22 30 40.00 340 5.93411444 6.5778363452 -2.3941739736
    7 22 30 40.00 345 6.02138083 6.7614715694 -1.8117677049
    7 22 30 40.00 350 6.10864722 6.8936479991 -1.2155728132
    7 22 30 40.00 355 6.19591361 6.9733596937 -0.6101266941
    7 22 30 40.00 360 6.28318 6.9999999999 -3.7150257E-05
    S P Q R By Bx

    17.196969697 1 0 -380.0218089991 19.4941480706 17.196969697


    17.1830997756 1.000341239 -0.8429774698 -379.3890641517 19.9004922044 17.5507147102
    17.1417288915 1.0013480727 -1.6785335963 -377.4994419281 20.2724803402 17.8860555111
    17.0735646541 1.0029710126 -2.499302251 -374.3785623299 20.6062686993 18.1967504649
    16.9797569544 1.0051313301 -3.2980320877 -370.0684101208 20.8986016926 18.4767928205
    16.8618559454 1.0077262887 -4.0676537856 -364.6262897072 21.1468493747 18.7206494102
    16.7217573061 1.0106357354 -4.8013564522 -358.1234170853 21.349005779 18.9234739046

    16.5616383409 1.0137294426 -5.492672424 -350.6432027374 21.5036540663 19.0812796329

    16.3838888079 1.01687457 -6.1355674981 -342.279292164 21.6099078352 19.1910624165


    16.1910403542 1.0199426693 -6.7245318979 -333.1334405848 21.6673394582 19.2508698784
    15.9856980967 1.0228157609 -7.2546663014 -323.3133040949 21.6759059744 19.2598191862
    15.7704773141 1.0253911616 -7.7217571597 -312.9302304123 21.6358813252 19.2180694044
    15.5479474896 1.0275848927 -8.122336253 -302.0971280292 21.5478011794 19.1267572157
    15.320585166 1.0293336489 -8.4537207678 -290.9264834503 21.4124238562 18.987905754
    15.0907363261 1.0305954269 -8.714031869 -279.5285832244 21.2307083944 18.8043159801
    14.8605883527 1.0313489974 -8.9021915081 -268.0099820253 21.0038088893 18.5794488366
    14.6321510892 1.0315924597 -9.0178988108 -256.4722416363 20.7330829316 18.3173047766
    14.407246139 1.0313411304 -9.0615886591 -245.0109498114 20.4201112721 18.0223054977
    14.1875032942 1.0306250142 -9.0343759447 -233.7150138122 20.0667255882 17.6991810875
    13.9743628663 1.0294860732 -8.9379894052 -222.6662117845 19.6750412875 17.3528644121
    13.7690826781 1.0279754775 -8.7746990051 -211.9389764532 19.2474924961 16.9883935239
    13.5727485338 1.0261509741 -8.5472405775 -201.6003799418 18.7868666264 16.6108221102
    13.3862870991 1.0240744716 -8.2587409771 -191.7102856291 18.296336095 16.2251375294
    13.210480266 1.0218098998 -7.9126464139 -182.32163242 17.7794848046 15.8361857298
    13.0459802278 1.0194213731 -7.512656008 -173.4808181205 17.2403268697 15.4486022918
    12.8933246455 1.0169716608 -7.0626619923 -165.2281512234 16.6833147517 15.0667489304
    12.7529514232 1.014520952 -6.5666974331 -157.5983438521 16.1133335059 14.6946550443
    12.6252127394 1.0121258863 -6.0288918596 -150.6210224379 15.5356773345 14.3359642737
    12.510388082 1.0098388206 -5.4534348054 -144.3212365956 14.9560042461 13.9938865458
    12.4086961231 1.0077072936 -4.8445469659 -138.7199503745 14.380264638 13.6711567109
    12.320305338 1.0057736523 -4.2064584536 -133.8345034175 13.8146003852 13.3700015735
    12.2453433186 1.0040748071 -3.5433934885 -129.6790324991 13.2652129536 13.092117785
    12.1839047737 1.0026420823 -2.8595607634 -126.2648463607 12.7382024321 12.8386635307
    12.136058225 1.0015011359 -2.1591486758 -123.6007487609 12.2393841737 12.6102669774
    12.1018514272 1.000671925 -1.4463245971 -121.6933062093 11.7740953549 12.4070538258
    12.0813155402 1.0001686982 -0.7252373497 -120.5470580317 11.3470089476 12.2286948823
    12.0744680851 1 -2.20732062E-05 -120.1646672706 10.9619756083 12.0744724175
    12.0813147074 1.0001686777 0.7251933288 -120.5470115325 10.6219131929 11.9433615677
    12.1018497624 1.0006718843 1.4462809528 -121.6932133181 10.3287583044 11.8341207862
    12.1360557296 1.0015010758 2.1591056601 -123.6006096954 10.0834852696 11.7453840087
    12.18390145 1.0026420038 2.859518629 -126.2646614567 9.8861875046 11.675747201
    12.2453391702 1.0040747116 3.5433524895 -129.6788022216 9.7362072193 11.6238433014
    12.3203003697 1.0057735415 4.2064188454 -133.8342283751 9.6322940936 11.5884018314
    12.4086903417 1.0077071695 4.844509005 -138.7196313373 9.5727727496 11.5682919633
    12.5103814962 1.0098386858 5.4533987491 -144.3208745168 9.5557018342 11.5625500008
    12.6252053611 1.0121257434 6.0288579648 -150.6206184776 9.5790126783 11.5703936695
    12.7529432673 1.0145208041 6.566665956 -157.5978994048 9.6406210784 11.5912262633
    12.8933157311 1.0169715112 7.0626331861 -165.2276679464 9.7385104854 11.6246336847
    13.0459705789 1.0194212253 7.5126301213 -173.4802979651 9.8707881917 11.6703769796
    13.210469912 1.0218097577 7.9126236883 -182.3210776623 10.0357179401 11.7283823345
    13.3862760761 1.024074339 8.2587216439 -191.7096989007 10.2317330296 11.7987298298
    13.5727368852 1.0261508548 8.5472248547 -201.5997642592 10.457433845 11.8816416308
    13.7690704557 1.0279753754 8.7746870932 -211.9383352429 10.7115731569 11.9774697698
    13.9743501312 1.0294859921 8.9379814833 -222.665548904 10.9930317942 12.0866832503
    14.1874901175 1.0306249573 9.0343721658 -233.7143335637 11.3007865576 12.2098538475
    14.4072326027 1.0313411006 9.0615891454 -245.010256946 11.6338716294 12.3476396864
    14.6321372865 1.0315924592 9.0179036496 -256.4715413474 11.9913342914 12.5007654304
    14.8605743886 1.0313490276 8.9022007471 -268.0092799289 12.37218552 12.6699977047
    15.0907223173 1.0305954883 8.7140455128 -279.5278853239 12.7753460039 12.8561142339
    15.3205712401 1.0293337408 8.4537387749 -290.9257960855 13.1995883336 13.0598651113
    15.5479337848 1.0275850131 8.1223585335 -302.0964578079 13.6434765528 13.2819247034
    15.7704639773 1.0253913074 7.7217835748 -312.9295841254 14.1053049294 13.5228329905
    15.9856852818 1.0228159276 7.2546966639 -323.3126886155 14.5830386742 13.7829257348
    16.1910282194 1.0199428511 6.7245659736 -333.1328627529 15.0742603252 14.0622538441
    16.3838775126 1.0168747602 6.1356050092 -342.2787586612 15.5761265026 14.3604937026
    16.5616280419 1.0137296336 5.4927130532 -350.6427199541 16.0853405217 14.6768520855
    16.7217481538 1.0106359193 4.8013998475 -358.1229909854 16.5981466621 15.0099714409
    16.8618480793 1.0077264573 4.067699566 -364.6259256954 17.1103514566 15.3578435799
    16.9797504991 1.0051314758 3.2980798485 -370.0681129178 17.6173759207 15.717741751
    17.073559715 1.0029711286 2.4993515693 -374.3783358597 18.1143400959 16.0861821766
    17.1417255512 1.0013481534 1.6785840359 -377.4992892225 18.5961777435 16.4589258246
    17.183098091 1.0003412803 0.8430285855 -379.388987275 19.0577749389 16.8310290609
    17.1969696969 1 5.134172355E-05 -380.0218089967 19.4941223997 17.1969477511
    θ3(Rad) θ3° θ4 (Rad) θ4° w2 w3

    1.0888568381 62.38695401 2.4342622209 139.5436941915 4 -0.8484879984


    1.0692423328 61.26312469 2.4163036609 138.5142225978 4 -0.9476798796
    1.0475963462 60.02289997 2.3996092023 137.5572154199 4 -1.0345530594
    1.0241971026 58.68222093 2.3844086897 136.6858484513 4 -1.1083069924
    0.9993358134 57.25777279 2.370914461 135.9122939414 4 -1.1685522257
    0.9733077832 55.76647525 2.3593149253 135.2473524041 4 -1.215298573
    0.9464040833 54.22500549 2.3497693847 134.7001558118 4 -1.2489157431

    0.9189043278 52.64938423 2.3424043803 134.2779581052 4 -1.270072998

    0.8910709194 51.05464605 2.3373116651 133.9860190165 4 -1.2796661427


    0.863144949 49.45460446 2.3345477451 133.8275777448 4 -1.2787403011
    0.8353437577 47.86171219 2.3341347946 133.8039054225 4 -1.268415793
    0.8078600317 46.28700935 2.3360626656 133.9144203194 4 -1.2498224878
    0.7808622055 44.74014655 2.3402916728 134.1568474851 4 -1.2240458144
    0.754495904 43.22946747 2.3467558372 134.5274046787 4 -1.1920855903
    0.7288861452 41.76213514 2.3553663041 135.0209983234 4 -1.1548272533
    0.7041400489 40.34428706 2.3660147042 135.6314161625 4 -1.1130240447
    0.6803498306 38.98120681 2.3785762823 136.3515066264 4 -1.0672881723
    0.6575959111 37.67750216 2.3929126774 137.1733381936 4 -1.0180888689
    0.6359500093 36.43728229 2.4088742874 138.0883349449 4 -0.9657554536
    0.615478129 35.26432896 2.4263021944 139.0873869419 4 -0.9104838648
    0.5962433745 34.16225778 2.4450296616 140.1609360128 4 -0.8523456019
    0.5783085514 33.13466724 2.4648832371 141.2990390707 4 -0.7912985119
    0.561738512 32.18527311 2.4856835266 142.4914123512 4 -0.7271993686
    0.5466022038 31.3180258 2.5072457098 143.7274610704 4 -0.659818682
    0.5329743626 30.53720736 2.5293799016 144.9963000903 4 -0.5888586334
    0.5209367687 29.84750345 2.5518914727 146.2867723191 4 -0.513975409
    0.5105789547 29.25404392 2.5745814695 147.5874727729 4 -0.4348074344
    0.5019982191 28.76240357 2.5972472909 148.886787378 4 -0.3510109706
    0.4952987735 28.37855329 2.6196837956 150.172956434 4 -0.2623040437
    0.4905898407 28.10875109 2.6416850131 151.4341727255 4 -0.168518555
    0.4879825427 27.95936379 2.6630466111 152.6587229266 4 -0.0696584995
    0.4875854927 27.93661448 2.6835692071 153.8351774775 4 0.0340404598
    0.4894991414 28.04625857 2.7030625102 154.9526279718 4 0.1420578595
    0.4938091254 28.29320267 2.7213501207 156.0009623334 4 0.2535520874
    0.5005791092 28.68109449 2.7382746402 156.9711577172 4 0.3673519139
    0.509843829 29.21192429 2.7537025716 157.8555614289 4 0.481984679
    0.521603186 29.88568638 2.7675283921 158.6481243881 4 0.595744015
    0.5358182044 30.70014763 2.7796771979 159.3445527486 4 0.7067914718
    0.5524094548 31.65075706 2.7901054834 159.9423525522 4 0.8132778611
    0.5712581634 32.73070942 2.7987998945 160.4407582838 4 0.9134647305
    0.5922097917 33.93115031 2.8057741225 160.840554793 4 1.0058263987
    0.615079494 35.24148884 2.8110643818 161.1438180673 4 1.0891183926
    0.6396586432 36.64977154 2.8147240796 161.3536096589 4 1.1624067145
    0.6657215875 38.14306951 2.8168183041 161.4736607449 4 1.2250608976
    0.6930319383 39.70783867 2.8174186617 161.5080761472 4 1.2767197345
    0.7213479141 41.33022595 2.8165988252 161.4610791532 4 1.3172409134
    0.7504265081 42.99630807 2.814430981 161.3368078303 4 1.3466450751
    0.7800264492 44.6922612 2.8109832116 161.1391649989 4 1.3650622961
    0.8099100705 46.40446802 2.8063177504 160.8717181734 4 1.3726859938
    0.8398442762 48.11957312 2.8004899883 160.537642641 4 1.3697366036
    0.8696008283 49.82449941 2.7935480978 160.1396998723 4 1.3564354939
    0.8989561704 51.50643804 2.7855331441 159.6802439286 4 1.3329884749
    0.9276909867 53.15282313 2.7764795797 159.1612497894 4 1.2995777734
    0.955589667 54.75130111 2.7664160416 158.5843590738 4 1.2563612733
    0.9824398243 56.28970311 2.7553664007 157.9509401664 4 1.2034779741
    1.0080319925 57.75602757 2.7433510325 157.2621610977 4 1.1410588534
    1.0321596139 59.13843961 2.730388301 156.5190745819 4 1.0692425431
    1.0546194172 60.42529264 2.7164962564 155.7227153339 4 0.9881953716
    1.0752122767 61.60517757 2.7016945546 154.874210136 4 0.8981353535
    1.0937446332 62.66700428 2.6860066074 153.9749010638 4 0.799359584
    1.1100305424 63.60011893 2.6694619597 153.0264817647 4 0.6922742066
    1.1238943942 64.3944598 2.652098874 152.0311456449 4 0.5774256622
    1.1351743104 65.04075193 2.6339670765 150.9917432399 4 0.4555313034
    1.1437261808 65.53073843 2.6151305769 149.9119439008 4 0.3275067452
    1.1494282303 65.85744208 2.5956704345 148.7963943349 4 0.194486603
    1.1521859307 66.0154468 2.5756872887 147.6508636861 4 0.0578347248
    1.1519369851 66.00118326 2.5553034283 146.482362131 4 -0.080860135
    1.1486560248 65.81319792 2.534664135 145.299217928 4 -0.2198067958
    1.1423585953 65.45238149 2.5139380285 144.111097175 4 -0.3570546087
    1.1331039773 64.92213049 2.4933161603 142.928951866 4 -0.4905570827
    1.120996416 64.22841773 2.4730096726 141.7648856926 4 -0.618253528
    1.1061844214 63.37975225 2.4532459508 140.6319334833 4 -0.7381629434
    1.0888579638 62.38701851 2.4342633467 139.5437587259 4 -0.8484816137
    Módulo Módulo Módulo
    w4 VA VB/A VB α2 A

    -0.8484853647 28 -18.6667359654 -25.4545609418 0 19.4942085804


    -0.7959964012 28 -20.8489573514 -23.8798920373 0 19.9005517755
    -0.7326795577 28 -22.7601673063 -21.9803867325 0 20.2725390214
    -0.6591756819 28 -24.3827538322 -19.7752704569 0 20.6063265561
    -0.5764424811 28 -25.708148965 -17.2932744338 0 20.8986588063
    -0.4857062881 28 -26.7365686051 -14.571188642 0 21.1469058412
    -0.3883973217 28 -27.4761463471 -11.651919651 0 21.3490617074

    -0.2860761364 28 -27.9416059567 -8.5822840926 0 21.5037095759

    -0.1803592274 28 -28.1526551397 -5.4107768212 0 21.6099630535


    -0.0728507562 28 -28.1322866235 -2.1855226848 0 21.6673945178
    0.03491451 28 -27.9051474464 1.047435299 0 21.6759610103
    0.1415141725 28 -27.4960947314 4.2454251764 0 21.6359364719
    0.2456663227 28 -26.9290079167 7.3699896802 0 21.5478565683
    0.3462437183 28 -26.2258829871 10.3873115483 0 21.4124796136
    0.4422760406 28 -25.4061995715 13.2682812184 0 21.230764639
    0.5329428117 28 -24.4865289837 15.9882843524 0 21.0038657306
    0.6175596658 28 -23.4803397901 18.5267899752 0 20.7331404685
    0.6955604748 28 -22.3979551158 20.8668142431 0 20.4201695918
    0.7664774742 28 -21.2466199786 22.9943242269 0 20.0667847653
    0.8299211366 28 -20.0306450253 24.8976340973 0 19.6751013836
    0.8855611727 28 -18.7516032407 26.5668351823 0 19.2475535594
    0.9331097668 28 -17.4085672613 27.9932930052 0 18.7869286916
    0.9723079751 28 -15.9983861093 29.169239254 0 18.2963991837
    1.0029161549 28 -14.5160110049 30.0874846463 0 17.7795489254
    1.0247093065 28 -12.9548899358 30.7412791935 0 17.240392019
    1.0374782697 28 -11.3074589978 31.1243480919 0 16.6833809142
    1.0410377386 28 -9.5657635574 31.2311321594 0 16.1134006558
    1.0352419382 28 -7.7222413542 31.0572581469 0 15.5357454362
    1.0200084017 28 -5.7706889603 30.6002520513 0 14.9560732556
    0.9953494334 28 -3.7074082092 29.8604830027 0 14.3803345039
    0.9614094264 28 -1.5324869891 28.8422827906 0 13.8146710503
    0.9185042404 28 0.748890116 27.5551272106 0 13.2652843561
    0.8671566223 28 3.1252729091 26.0146986702 0 12.7382745071
    0.8081198079 28 5.5781459236 24.2435942383 0 12.2394568548
    0.7423809341 28 8.0817421052 22.2714280217 0 11.7741685752
    0.6711376541 28 10.6036629387 20.1341296219 0 11.3470826413
    0.5957457562 28 13.106368329 17.8723726874 0 10.9620497111
    0.5176419168 28 15.5494123805 15.5292575039 0 10.6219876436
    0.4382520784 28 17.8921129434 13.1475623515 0 10.3288330451
    0.3588999602 28 20.0962240712 10.7669988055 0 10.0835602458
    0.2807302161 28 22.1281807715 8.4219064844 0 9.8862626655
    0.2046567658 28 23.9606046364 6.1397029743 0 9.736282518
    0.1313404856 28 25.5729477188 3.9402145686 0 9.6323694863
    0.0611941428 28 26.9513397463 1.8358242844 0 9.5728481956
    -0.0055919278 28 28.0878341584 -0.1677578329 0 9.5557772955
    -0.0690116358 28 28.9793000956 -2.0703490732 0 9.5790881188
    -0.1292001256 28 29.6261916519 -3.876003768 0 9.6406964636
    -0.1863917567 28 30.0313705143 -5.5917527015 0 9.7385857819
    -0.240882625 28 30.1990918629 -7.2264787487 0 9.8708633668
    -0.2929991769 28 30.1342052783 -8.7899753067 0 10.0357929613
    -0.3430730217 28 29.8415808657 -10.2921906501 0 10.2318078642
    -0.3914211723 28 29.3257464484 -11.7426351682 0 10.4575084596
    -0.4383305401 28 28.590711015 -13.1499162023 0 10.7116475172
    -0.4840454167 28 27.639948013 -14.5213625006 0 10.9931058647
    -0.5287567769 28 26.4765154299 -15.8627033077 0 11.3008603012
    -0.572592438 28 25.1032947749 -17.1777731409 0 11.6339450074
    -0.6156073621 28 23.5233359477 -18.4682208621 0 11.991407263
    -0.65777367 28 21.7402981752 -19.7332100992 0 12.3722580426
    -0.6989702458 28 19.7589777779 -20.9691073728 0 12.7754180325
    -0.7389721553 28 17.5859108469 -22.1691646582 0 13.1996598216
    -0.7774404929 28 15.2300325462 -23.323214786 0 13.6435474515
    -0.8139136998 28 12.7033645692 -24.4174109926 0 14.1053751889
    -0.8478018475 28 10.0216886753 -25.434055426 0 14.5831082435
    -0.8783857997 28 7.2051483954 -26.3515739906 0 15.0743291533
    -0.9048234676 28 4.2787052666 -27.1447040284 0 15.5761945393
    -0.926165447 28 1.2723639467 -27.7849634101 0 16.0854077189
    -0.9413820167 28 -1.7789229702 -28.2414605022 0 16.5982129754
    -0.9494026813 28 -4.8357495087 -28.482080439 0 17.1104168467
    -0.9491680786 28 -7.8552013916 -28.475042357 0 17.6174403558
    -0.9396922223 28 -10.7922558184 -28.1907666697 0 18.1144035533
    -0.920130937 28 -13.6015776168 -27.6039281108 0 18.5962402118
    -0.8898503777 28 -16.2395847545 -26.6955113306 0 19.0578364198
    -0.8484882198 28 -18.6665955012 -25.4546465942 0 19.4941829096
    B C D E F α3

    19.4941480706 135.7576129992 -22.8029785735 10.196969697 -4.35628133E-05 -4.8121340537


    19.2904025192 135.2973607093 -22.449232482 10.5773517786 -14.4768965702 -4.2719668105
    19.0569441128 133.934802501 -22.113890694 10.9924010608 -28.9625366418 -3.6858557286
    18.7945368788 131.7039102553 -21.8031948545 11.4352692802 -43.1201649458 -3.0724463161
    18.5044626288 128.6456033173 -21.5231517231 11.8989437691 -56.6300030699 -2.4505398218
    18.1885238806 124.8059709079 -21.2792944747 12.3764938106 -69.2079803443 -1.837724154
    17.8490084601 120.2352331189 -21.0764694438 12.8612945302 -80.6201126326 -1.2492426556

    17.4886219705 114.9872313179 -20.9186633051 13.3472132512 -90.6913006149 -0.6972161466

    17.1103977295 109.1191257973 -20.8088802396 13.8287486614 -99.3082551833 -0.1902604599


    16.7175952736 102.6909897905 -20.7490726253 14.3011191265 -106.4171362843 0.2665264492
    16.3135981892 95.7650925301 -20.7401232948 14.7603019658 -112.0171004748 0.6712826139
    15.9018202707 88.4048060549 -20.7818731828 15.2030297007 -116.1512277173 1.0249039794
    15.4856264487 80.6732002986 -20.8731856052 15.6267518535 -118.8962713906 1.330469465
    15.0682721817 72.6314771227 -21.0120374261 16.0295718426 -120.3524380665 1.5926529199
    14.6528625195 64.3374277498 -21.1956276823 16.4101681888 -120.6340627565 1.8171820292
    14.2423301084 55.8440884148 -21.4204954278 16.767708045 -119.8616929995 2.0103793149
    13.8394300941 47.1987332941 -21.6826402062 17.1017594028 -118.1557922828 2.1787987727
    13.44674915 38.4422997179 -21.9776403156 17.4122065603 -115.6320485745 2.328955445
    13.0667255882 29.609301744 -22.3007656636 17.6991717999 -112.3981310113 2.4671344903
    12.7016775464 20.7282617585 -22.6470833783 17.9629448451 -108.5516658016 2.5992601657
    12.3538364331 11.8226775978 -23.0115554011 18.2039206048 -104.179183683 2.7308022426
    12.025383038 2.9125420068 -23.3891280371 18.4225449596 -99.3558080804 2.8666964936
    11.7184838671 -5.9835641093 -23.7748139196 18.6192678657 -94.1454905863 3.0112561636
    11.4353252799 -14.8457823036 -24.1637670906 18.7945028065 -88.6016475763 3.168052483
    11.1781428515 -23.6496836598 -24.5513519593 18.9485915675 -82.7681011199 3.3397446965
    10.9492430429 -32.3624105669 -24.9332067988 19.0817734183 -76.6802735341 3.5278449512
    10.7510137808 -40.9383847156 -25.3053021975 19.1941580353 -70.3666232239 3.7324126351
    10.5859200152 -49.3148687385 -25.6639945009 19.2857018911 -63.8503342632 3.9516888023
    10.456479911 -57.407892375 -26.006073767 19.3561883611 -57.1512758939 4.1817061888
    10.3652173264 -65.1093258071 -26.3288051297 19.4052124383 -50.2882215333 4.4159439399
    10.3145869798 -72.2861415678 -26.6299617681 19.4321716603 -43.2812518804 4.6451337331
    10.3068706248 -78.7830359627 -26.9078470144 19.4362655344 -36.1541627054 4.8573532426
    10.3440459134 -84.4294199637 -27.1613026672 19.416506229 -28.9365710117 5.0385437023
    10.427634411 -89.0511858311 -27.3897005442 19.3717433545 -21.6653042452 5.1735378491
    10.5585408345 -92.4865710142 -27.5929149305 19.3007050505 -14.3846291951 5.2475705255
    10.736900758 -94.6040687046 -27.7712750073 19.2020561949 -7.1449939742 5.2480827005
    10.9619570332 -95.3191386119 -27.9254984939 19.0744724174 -0.0002415663 5.166474625
    11.2319843736 -94.606045909 -28.056610246 18.9167261182 6.9963491875 4.9993927653
    11.5442762389 -92.5019080495 -28.1658518055 18.727778462 13.7964677333 4.7492072469
    11.895199148 -89.1018633571 -28.2545892338 18.5068700009 20.3607111256 4.4235466197
    12.2803091135 -84.546541841 -28.324226565 18.2536026054 26.6612507616 4.0340241201
    12.6945158786 -79.0048282145 -28.3761308626 17.9680067511 32.6827702808 3.5944997255
    13.1322753259 -72.6556195352 -28.4115726084 17.6505904933 38.4216703813 3.1192944586
    13.5877896295 -65.6718147553 -28.4316826344 17.3023689992 43.8839135969 2.621702426
    14.0551977105 -58.208549738 -28.4374246422 16.9248756958 49.0820739004 2.1129911539
    14.5287437284 -50.3963076474 -28.4295809116 16.520157556 54.0321517513 1.6019193939
    15.0029169237 -42.3384530929 -28.4087481543 16.0907577131 58.7505784355 1.0946876855
    15.4725608857 -34.1121471649 -28.3753404732 15.6396886043 63.2516495413 0.5951865806
    15.9329536347 -25.7714555458 -28.3295968272 15.1703984283 67.5454622408 0.1054082598
    16.3798617643 -17.3516069257 -28.2715910348 14.6867330806 71.6363169037 -0.3740835835
    16.8095725514 -8.8736306027 -28.2012430192 14.192895076 75.5214844194 -0.8436934783
    17.2189078182 -0.3488835477 -28.1183306193 13.6934003647 79.1902251969 -1.3043784599
    17.6052227689 8.2167929231 -28.022501806 13.1930334366 82.6229590625 -1.757288082
    17.9663922974 16.8193876605 -27.9132875786 12.6968006921 85.7905145556 -2.2034570585
    18.3007865575 25.4535134299 -27.7901161648 12.2098817101 88.6534234625 -2.6435407646
    18.6072369893 34.1096475671 -27.6523294419 11.7375777579 91.1612680217 -3.077582544
    18.8849935799 42.7717840181 -27.4992027494 11.2852566424 93.2521330901 -3.5048040312
    19.133673916 51.4154822441 -27.3299694645 10.8582927975 94.8522638617 -3.9234142931
    19.3532045848 60.0063333954 -27.1438518655 10.4620013525 95.8760813097 -4.3304397875
    19.5437557084 68.498904393 -26.9400998624 10.1015648694 96.2267603495 -4.7215844578
    19.7056698585 76.8362578583 -26.7180390923 9.7819515143 95.797624446 -5.0911372336
    19.8393872924 84.9501710918 -26.4771295797 9.5078237185 94.4746449761 -5.4319519725
    19.9453703391 92.7621802633 -26.2170355677 9.2834369732 92.1403385512 -5.7355311052
    20.024030779 100.1855461122 -25.9377061549 9.1125293614 88.6793100575 -5.9922468944
    20.075665067 107.1281665912 -25.6394649647 8.9982038272 83.9855704774 -6.1917306885
    20.1004030492 113.4963484381 -25.3231052305 8.9428070124 77.9715477027 -6.3234481511
    20.0981761541 119.1992036191 -24.9899845143 8.9478106417 70.5784007536 -6.3774553543
    20.0687106201 124.153283243 -24.6421110162 9.0137036808 61.7868649136 -6.3452972101
    20.0115498943 128.2869407135 -24.2822114996 9.1399054058 51.6274563274 -6.2209699322
    19.9261078008 131.5438739494 -23.9137697552 9.3247106073 40.1885474349 -6.0018312584
    19.8117505567 133.8853705701 -23.5410248287 9.5652778255 27.6207108127 -5.6893175447
    19.667901633 135.2909784644 -23.1689203675 9.8576693672 14.1359287735 -5.2893274329
    19.49415955 135.7576129971 -22.8030005194 10.1969477512 0.0008297584 -4.8121651492
    Modulo
    α4 AA n AA t AA ABAn ABAt

    2.1518780333 112 0 112 15.8385014364 -105.8669491813


    2.6576851729 112 0 112 19.7581373927 -93.9832698302
    3.1418687026 112 0 112 23.5466007186 -81.0888260297
    3.5891261093 112 0 112 27.0235765655 -67.5938189532
    3.9858864407 112 0 112 30.0413146912 -53.9118760799
    4.321222307 112 0 112 32.4929136715 -40.4299313889
    4.5874376932 112 0 112 34.3153917313 -27.483338423

    4.7802859937 112 0 112 35.4878792471 -15.3387552242

    4.8988373276 112 0 112 36.0259996097 -4.1857301188


    4.9450648536 112 0 112 35.9738886668 5.8635818832
    4.9232478003 112 0 112 35.3953297274 14.768217505
    4.8392934166 112 0 112 34.3652375217 22.5478875472
    4.7000662509 112 0 112 32.9623394263 29.270328231
    4.5127891096 112 0 112 31.2634972025 35.0383642368
    4.2845534649 112 0 112 29.3397716668 39.9780046429
    4.0219536415 112 0 112 27.2540955304 44.228344927
    3.7308417755 112 0 112 25.060288939 47.9335729993
    3.4161900103 112 0 112 22.8031087894 51.2370197901
    3.0820418837 112 0 112 20.5190391143 54.2769587868
    2.7315349077 112 0 112 18.2375790969 57.1837236461
    2.3669793511 112 0 112 15.9828465499 60.0776493376
    1.9899828231 112 0 112 13.7753733677 63.0673228587
    1.6016152889 112 0 112 11.6340162773 66.2476355996
    1.2026136564 112 0 112 9.5779352497 69.6971546252
    0.7936281048 112 0 112 7.628598784 73.4743833222
    0.3755126886 112 0 112 5.811755863 77.612588927
    -0.0503410209 112 0 112 4.1592651107 82.1130779726
    -0.4816381154 112 0 112 2.7105914333 86.9371536501
    -0.9148100163 112 0 112 1.5136750489 91.9975361525
    -1.3446910546 112 0 112 0.6247670741 97.1507666771
    -1.7643203777 112 0 112 0.1067507442 102.1929421271
    -2.164968631 112 0 112 0.0254925639 106.8617713383
    -2.5364889532 112 0 112 0.4439695798 110.8479614513
    -2.8680541094 112 0 112 1.4143505429 113.8178326798
    -3.1492570454 112 0 112 2.9688434298 115.44655156
    -3.37143271 112 0 112 5.1108030781 115.4578194116
    -3.528944566 112 0 112 7.8080404898 113.662441749
    -3.6201270216 112 0 112 10.9901920627 109.9866408362
    -3.6476286829 112 0 112 14.5512593446 104.4825594313
    -3.6180569646 112 0 112 18.3571919054 97.3180256338
    -3.5410225137 112 0 112 22.2571083753 88.7485306416
    -3.4278375049 112 0 112 26.0959352064 79.0789939609
    -3.2901754784 112 0 112 29.7261661377 68.6244780889
    -3.1389481068 112 0 112 33.0170324601 57.6774533715
    -2.9835397401 112 0 112 35.8602921686 46.4858053863
    -2.8314210041 112 0 112 38.1727197286 35.2422266661
    -2.6880780645 112 0 112 39.8959650817 24.0831290804
    -2.5571563588 112 0 112 40.9946915895 13.0941047737
    -2.4407176693 112 0 112 41.4538704248 2.3189817149
    -2.3395305585 112 0 112 41.2759239889 -8.229838837
    -2.2533415056 112 0 112 40.4781794801 -18.5612565233
    -2.1810984994 112 0 112 39.0908820343 -28.6963261172
    -2.1211167743 112 0 112 37.1558525612 -38.6603378038
    -2.0711877556 112 0 112 34.7257602801 -48.4760552865
    -2.0286386389 112 0 112 31.8639031505 -58.1578968215
    -1.9903532438 112 0 112 28.6443367526 -67.706815969
    -1.9527664349 112 0 112 25.1521515504 -77.1056886872
    -1.9118456305 112 0 112 21.4836620339 -86.3151144484
    -1.8630743583 112 0 112 17.7462364921 -95.2696753239
    -1.8014546683 112 0 112 14.057466378 -103.8748580711
    -1.7215472556 112 0 112 10.5433586981 -112.0050191396
    -1.6175697235 112 0 112 7.335248699 -119.5029433952
    -1.4835734165 112 0 112 4.5651929048 -126.1816843135
    -1.3137161817 112 0 112 2.3597347 -131.829431677
    -1.102640626 112 0 112 0.8321508527 -136.218075148
    -0.8459535685 112 0 112 0.0735868188 -139.1158593247
    -0.5407821625 112 0 112 0.1438439515 -140.3040177951
    -0.1863572521 112 0 112 1.062930605 -139.5965386228
    0.2154507379 112 0 112 2.8047358592 -136.8613385082
    0.6597367259 112 0 112 5.2942175295 -132.0402876843
    1.1384038008 112 0 112 8.4092233485 -125.1649859826
    1.6403229685 112 0 112 11.9874596817 -116.3652035232
    2.1518469377 112 0 112 15.838263073 -105.867633283
    Módulo Módulo
    ABA ABn AB t AB

    107.0451729724 21.5978224247 64.556340999 68.0733949254


    96.0376957304 19.0083081238 79.7305551879 81.9650975007
    84.438380564 16.1045800303 94.2560610769 95.6219773257
    72.7955908766 13.0353773881 107.6737832799 108.4599680502
    61.7168613171 9.9685780214 119.5765932199 119.9913921656
    51.8687650805 7.077317948 129.6366692114 129.8297132152
    43.9645311648 4.5255743851 137.6231307957 137.6975197799

    38.6609232338 2.4551866749 143.4085798119 143.4295949422

    36.2683468676 0.975883527 146.9651198292 146.9683598434


    36.4486249166 0.1592169802 148.3519456071 148.3520310459
    38.3527002281 0.0365706902 147.6974340103 147.6974385379
    41.1020289373 0.600787831 145.1788024979 145.1800456011
    44.082512805 1.8105582629 141.0019875266 141.013611427
    46.9584201791 3.5965413734 135.3836732884 135.4314369078
    49.5889408708 5.868242883 128.5366039478 128.6704893477
    51.9512484755 8.5208412178 120.6586092444 120.9591035014
    54.0892364725 11.4413982261 111.925253266 112.5085237305
    56.0822072269 14.5141312218 102.4857003093 103.5083512235
    58.0260219326 17.6246315551 92.4612565111 94.1260409933
    60.0215589713 20.6630727882 81.9460472324 84.511048
    62.1673172477 23.5265577201 71.0093805329 74.8052875258
    64.5542262287 26.1208151091 59.6994846939 65.1638354817
    67.2614269643 28.3614839553 48.048458666 55.7945172246
    70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.9303127382 10.6473901826 -105.86833698 106.4024045434
    110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    91.4968882764 2.3642836277 -106.230675411 106.2569820546
    83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    44.5309247349 3.5309729459 -67.6002451684 67.692399254
    48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    81.10436459 11.3691727271 -58.5829930477 59.6760015661
    88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    139.115878787 25.7334730567 -25.3786070541 36.1425695208
    140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    139.600585303 27.0409635378 -5.5907175629 27.6128562797
    136.8900745908 27.027601241 6.4635221369 27.7897165739
    132.1463821336 26.4906441808 19.792101778 33.0678321319
    125.4471552222 25.3992282382 34.1521140234 42.5615752453
    116.9810231645 23.75501084 49.2096890558 54.64333479
    107.0458142764 21.5979677745 64.5554081316 68.072556372
    longitud θ2
    eslabones θ ° w3
    2 (rad) w2
    a b c d valores valores

    7 22 30 40.00 0 0 4 -0.8484879984
    7 22 30 40.00 5 0.08726639 4 -0.9476798796
    7 22 30 40.00 10 0.17453278 4 -1.0345530594
    7 22 30 40.00 15 0.26179917 4 -1.1083069924
    7 22 30 40.00 20 0.34906556 4 -1.1685522257
    7 22 30 40.00 25 0.43633194 4 -1.215298573
    7 22 30 40.00 30 0.52359833 4 -1.2489157431
    7 22 30 40.00 35 0.61086472 4 -1.270072998
    7 22 30 40.00 40 0.69813111 4 -1.2796661427
    7 22 30 40.00 45 0.7853975 4 -1.2787403011
    7 22 30 40.00 50 0.87266389 4 -1.268415793
    7 22 30 40.00 55 0.95993028 4 -1.2498224878
    7 22 30 40.00 60 1.04719667 4 -1.2240458144
    7 22 30 40.00 65 1.13446306 4 -1.1920855903
    7 22 30 40.00 70 1.22172944 4 -1.1548272533
    7 22 30 40.00 75 1.30899583 4 -1.1130240447
    7 22 30 40.00 80 1.39626222 4 -1.0672881723
    7 22 30 40.00 85 1.48352861 4 -1.0180888689
    7 22 30 40.00 90 1.570795 4 -0.9657554536
    7 22 30 40.00 95 1.65806139 4 -0.9104838648
    7 22 30 40.00 100 1.74532778 4 -0.8523456019
    7 22 30 40.00 105 1.83259417 4 -0.7912985119
    7 22 30 40.00 110 1.91986056 4 -0.7271993686
    7 22 30 40.00 115 2.00712694 4 -0.659818682
    7 22 30 40.00 120 2.09439333 4 -0.5888586334
    7 22 30 40.00 125 2.18165972 4 -0.513975409
    7 22 30 40.00 130 2.26892611 4 -0.4348074344
    7 22 30 40.00 135 2.3561925 4 -0.3510109706
    7 22 30 40.00 140 2.44345889 4 -0.2623040437
    7 22 30 40.00 145 2.53072528 4 -0.168518555
    7 22 30 40.00 150 2.61799167 4 -0.0696584995
    7 22 30 40.00 155 2.70525806 4 0.0340404598
    7 22 30 40.00 160 2.79252444 4 0.1420578595
    7 22 30 40.00 165 2.87979083 4 0.2535520874
    7 22 30 40.00 170 2.96705722 4 0.3673519139
    7 22 30 40.00 175 3.05432361 4 0.481984679
    7 22 30 40.00 180 3.14159 4 0.595744015
    7 22 30 40.00 185 3.22885639 4 0.7067914718
    7 22 30 40.00 190 3.31612278 4 0.8132778611
    7 22 30 40.00 195 3.40338917 4 0.9134647305
    7 22 30 40.00 200 3.49065556 4 1.0058263987
    7 22 30 40.00 205 3.57792194 4 1.0891183926
    7 22 30 40.00 210 3.66518833 4 1.1624067145
    7 22 30 40.00 215 3.75245472 4 1.2250608976
    7 22 30 40.00 220 3.83972111 4 1.2767197345
    7 22 30 40.00 225 3.9269875 4 1.3172409134
    7 22 30 40.00 230 4.01425389 4 1.3466450751
    7 22 30 40.00 235 4.10152028 4 1.3650622961
    7 22 30 40.00 240 4.18878667 4 1.3726859938
    7 22 30 40.00 245 4.27605306 4 1.3697366036
    7 22 30 40.00 250 4.36331944 4 1.3564354939
    7 22 30 40.00 255 4.45058583 4 1.3329884749
    7 22 30 40.00 260 4.53785222 4 1.2995777734
    7 22 30 40.00 265 4.62511861 4 1.2563612733
    7 22 30 40.00 270 4.712385 4 1.2034779741
    7 22 30 40.00 275 4.79965139 4 1.1410588534
    7 22 30 40.00 280 4.88691778 4 1.0692425431
    7 22 30 40.00 285 4.97418417 4 0.9881953716
    7 22 30 40.00 290 5.06145056 4 0.8981353535
    7 22 30 40.00 295 5.14871694 4 0.799359584
    7 22 30 40.00 300 5.23598333 4 0.6922742066
    7 22 30 40.00 305 5.32324972 4 0.5774256622
    7 22 30 40.00 310 5.41051611 4 0.4555313034
    7 22 30 40.00 315 5.4977825 4 0.3275067452
    7 22 30 40.00 320 5.58504889 4 0.194486603
    7 22 30 40.00 325 5.67231528 4 0.0578347248
    7 22 30 40.00 330 5.75958167 4 -0.080860135
    7 22 30 40.00 335 5.84684806 4 -0.2198067958
    7 22 30 40.00 340 5.93411444 4 -0.3570546087
    7 22 30 40.00 345 6.02138083 4 -0.4905570827
    7 22 30 40.00 350 6.10864722 4 -0.618253528
    7 22 30 40.00 355 6.19591361 4 -0.7381629434
    7 22 30 40.00 360 6.28318 4 -0.8484816137
    Módulo Módulo Módulo
    w4 VA VB/A VB α2 A

    -0.8484853647 28 -18.6667359654 -25.4545609418 0 19.4942085804


    -0.7959964012 28 -20.8489573514 -23.8798920373 0 19.9005517755
    -0.7326795577 28 -22.7601673063 -21.9803867325 0 20.2725390214
    -0.6591756819 28 -24.3827538322 -19.7752704569 0 20.6063265561
    -0.5764424811 28 -25.708148965 -17.2932744338 0 20.8986588063
    -0.4857062881 28 -26.7365686051 -14.571188642 0 21.1469058412
    -0.3883973217 28 -27.4761463471 -11.651919651 0 21.3490617074

    -0.2860761364 28 -27.9416059567 -8.5822840926 0 21.5037095759

    -0.1803592274 28 -28.1526551397 -5.4107768212 0 21.6099630535


    -0.0728507562 28 -28.1322866235 -2.1855226848 0 21.6673945178
    0.03491451 28 -27.9051474464 1.047435299 0 21.6759610103
    0.1415141725 28 -27.4960947314 4.2454251764 0 21.6359364719
    0.2456663227 28 -26.9290079167 7.3699896802 0 21.5478565683
    0.3462437183 28 -26.2258829871 10.3873115483 0 21.4124796136
    0.4422760406 28 -25.4061995715 13.2682812184 0 21.230764639
    0.5329428117 28 -24.4865289837 15.9882843524 0 21.0038657306
    0.6175596658 28 -23.4803397901 18.5267899752 0 20.7331404685
    0.6955604748 28 -22.3979551158 20.8668142431 0 20.4201695918
    0.7664774742 28 -21.2466199786 22.9943242269 0 20.0667847653
    0.8299211366 28 -20.0306450253 24.8976340973 0 19.6751013836
    0.8855611727 28 -18.7516032407 26.5668351823 0 19.2475535594
    0.9331097668 28 -17.4085672613 27.9932930052 0 18.7869286916
    0.9723079751 28 -15.9983861093 29.169239254 0 18.2963991837
    1.0029161549 28 -14.5160110049 30.0874846463 0 17.7795489254
    1.0247093065 28 -12.9548899358 30.7412791935 0 17.240392019
    1.0374782697 28 -11.3074589978 31.1243480919 0 16.6833809142
    1.0410377386 28 -9.5657635574 31.2311321594 0 16.1134006558
    1.0352419382 28 -7.7222413542 31.0572581469 0 15.5357454362
    1.0200084017 28 -5.7706889603 30.6002520513 0 14.9560732556
    0.9953494334 28 -3.7074082092 29.8604830027 0 14.3803345039
    0.9614094264 28 -1.5324869891 28.8422827906 0 13.8146710503
    0.9185042404 28 0.748890116 27.5551272106 0 13.2652843561
    0.8671566223 28 3.1252729091 26.0146986702 0 12.7382745071
    0.8081198079 28 5.5781459236 24.2435942383 0 12.2394568548
    0.7423809341 28 8.0817421052 22.2714280217 0 11.7741685752
    0.6711376541 28 10.6036629387 20.1341296219 0 11.3470826413
    0.5957457562 28 13.106368329 17.8723726874 0 10.9620497111
    0.5176419168 28 15.5494123805 15.5292575039 0 10.6219876436
    0.4382520784 28 17.8921129434 13.1475623515 0 10.3288330451
    0.3588999602 28 20.0962240712 10.7669988055 0 10.0835602458
    0.2807302161 28 22.1281807715 8.4219064844 0 9.8862626655
    0.2046567658 28 23.9606046364 6.1397029743 0 9.736282518
    0.1313404856 28 25.5729477188 3.9402145686 0 9.6323694863
    0.0611941428 28 26.9513397463 1.8358242844 0 9.5728481956
    -0.0055919278 28 28.0878341584 -0.1677578329 0 9.5557772955
    -0.0690116358 28 28.9793000956 -2.0703490732 0 9.5790881188
    -0.1292001256 28 29.6261916519 -3.876003768 0 9.6406964636
    -0.1863917567 28 30.0313705143 -5.5917527015 0 9.7385857819
    -0.240882625 28 30.1990918629 -7.2264787487 0 9.8708633668
    -0.2929991769 28 30.1342052783 -8.7899753067 0 10.0357929613
    -0.3430730217 28 29.8415808657 -10.2921906501 0 10.2318078642
    -0.3914211723 28 29.3257464484 -11.7426351682 0 10.4575084596
    -0.4383305401 28 28.590711015 -13.1499162023 0 10.7116475172
    -0.4840454167 28 27.639948013 -14.5213625006 0 10.9931058647
    -0.5287567769 28 26.4765154299 -15.8627033077 0 11.3008603012
    -0.572592438 28 25.1032947749 -17.1777731409 0 11.6339450074
    -0.6156073621 28 23.5233359477 -18.4682208621 0 11.991407263
    -0.65777367 28 21.7402981752 -19.7332100992 0 12.3722580426
    -0.6989702458 28 19.7589777779 -20.9691073728 0 12.7754180325
    -0.7389721553 28 17.5859108469 -22.1691646582 0 13.1996598216
    -0.7774404929 28 15.2300325462 -23.323214786 0 13.6435474515
    -0.8139136998 28 12.7033645692 -24.4174109926 0 14.1053751889
    -0.8478018475 28 10.0216886753 -25.434055426 0 14.5831082435
    -0.8783857997 28 7.2051483954 -26.3515739906 0 15.0743291533
    -0.9048234676 28 4.2787052666 -27.1447040284 0 15.5761945393
    -0.926165447 28 1.2723639467 -27.7849634101 0 16.0854077189
    -0.9413820167 28 -1.7789229702 -28.2414605022 0 16.5982129754
    -0.9494026813 28 -4.8357495087 -28.482080439 0 17.1104168467
    -0.9491680786 28 -7.8552013916 -28.475042357 0 17.6174403558
    -0.9396922223 28 -10.7922558184 -28.1907666697 0 18.1144035533
    -0.920130937 28 -13.6015776168 -27.6039281108 0 18.5962402118
    -0.8898503777 28 -16.2395847545 -26.6955113306 0 19.0578364198
    -0.8484882198 28 -18.6665955012 -25.4546465942 0 19.4941829096
    B C D E F α3

    19.4941480706 135.7576129992 -22.8029785735 10.196969697 -4.35628133E-05 -4.8121340537


    19.2904025192 135.2973607093 -22.449232482 10.5773517786 -14.4768965702 -4.2719668105
    19.0569441128 133.934802501 -22.113890694 10.9924010608 -28.9625366418 -3.6858557286
    18.7945368788 131.7039102553 -21.8031948545 11.4352692802 -43.1201649458 -3.0724463161
    18.5044626288 128.6456033173 -21.5231517231 11.8989437691 -56.6300030699 -2.4505398218
    18.1885238806 124.8059709079 -21.2792944747 12.3764938106 -69.2079803443 -1.837724154
    17.8490084601 120.2352331189 -21.0764694438 12.8612945302 -80.6201126326 -1.2492426556

    17.4886219705 114.9872313179 -20.9186633051 13.3472132512 -90.6913006149 -0.6972161466

    17.1103977295 109.1191257973 -20.8088802396 13.8287486614 -99.3082551833 -0.1902604599


    16.7175952736 102.6909897905 -20.7490726253 14.3011191265 -106.4171362843 0.2665264492
    16.3135981892 95.7650925301 -20.7401232948 14.7603019658 -112.0171004748 0.6712826139
    15.9018202707 88.4048060549 -20.7818731828 15.2030297007 -116.1512277173 1.0249039794
    15.4856264487 80.6732002986 -20.8731856052 15.6267518535 -118.8962713906 1.330469465
    15.0682721817 72.6314771227 -21.0120374261 16.0295718426 -120.3524380665 1.5926529199
    14.6528625195 64.3374277498 -21.1956276823 16.4101681888 -120.6340627565 1.8171820292
    14.2423301084 55.8440884148 -21.4204954278 16.767708045 -119.8616929995 2.0103793149
    13.8394300941 47.1987332941 -21.6826402062 17.1017594028 -118.1557922828 2.1787987727
    13.44674915 38.4422997179 -21.9776403156 17.4122065603 -115.6320485745 2.328955445
    13.0667255882 29.609301744 -22.3007656636 17.6991717999 -112.3981310113 2.4671344903
    12.7016775464 20.7282617585 -22.6470833783 17.9629448451 -108.5516658016 2.5992601657
    12.3538364331 11.8226775978 -23.0115554011 18.2039206048 -104.179183683 2.7308022426
    12.025383038 2.9125420068 -23.3891280371 18.4225449596 -99.3558080804 2.8666964936
    11.7184838671 -5.9835641093 -23.7748139196 18.6192678657 -94.1454905863 3.0112561636
    11.4353252799 -14.8457823036 -24.1637670906 18.7945028065 -88.6016475763 3.168052483
    11.1781428515 -23.6496836598 -24.5513519593 18.9485915675 -82.7681011199 3.3397446965
    10.9492430429 -32.3624105669 -24.9332067988 19.0817734183 -76.6802735341 3.5278449512
    10.7510137808 -40.9383847156 -25.3053021975 19.1941580353 -70.3666232239 3.7324126351
    10.5859200152 -49.3148687385 -25.6639945009 19.2857018911 -63.8503342632 3.9516888023
    10.456479911 -57.407892375 -26.006073767 19.3561883611 -57.1512758939 4.1817061888
    10.3652173264 -65.1093258071 -26.3288051297 19.4052124383 -50.2882215333 4.4159439399
    10.3145869798 -72.2861415678 -26.6299617681 19.4321716603 -43.2812518804 4.6451337331
    10.3068706248 -78.7830359627 -26.9078470144 19.4362655344 -36.1541627054 4.8573532426
    10.3440459134 -84.4294199637 -27.1613026672 19.416506229 -28.9365710117 5.0385437023
    10.427634411 -89.0511858311 -27.3897005442 19.3717433545 -21.6653042452 5.1735378491
    10.5585408345 -92.4865710142 -27.5929149305 19.3007050505 -14.3846291951 5.2475705255
    10.736900758 -94.6040687046 -27.7712750073 19.2020561949 -7.1449939742 5.2480827005
    10.9619570332 -95.3191386119 -27.9254984939 19.0744724174 -0.0002415663 5.166474625
    11.2319843736 -94.606045909 -28.056610246 18.9167261182 6.9963491875 4.9993927653
    11.5442762389 -92.5019080495 -28.1658518055 18.727778462 13.7964677333 4.7492072469
    11.895199148 -89.1018633571 -28.2545892338 18.5068700009 20.3607111256 4.4235466197
    12.2803091135 -84.546541841 -28.324226565 18.2536026054 26.6612507616 4.0340241201
    12.6945158786 -79.0048282145 -28.3761308626 17.9680067511 32.6827702808 3.5944997255
    13.1322753259 -72.6556195352 -28.4115726084 17.6505904933 38.4216703813 3.1192944586
    13.5877896295 -65.6718147553 -28.4316826344 17.3023689992 43.8839135969 2.621702426
    14.0551977105 -58.208549738 -28.4374246422 16.9248756958 49.0820739004 2.1129911539
    14.5287437284 -50.3963076474 -28.4295809116 16.520157556 54.0321517513 1.6019193939
    15.0029169237 -42.3384530929 -28.4087481543 16.0907577131 58.7505784355 1.0946876855
    15.4725608857 -34.1121471649 -28.3753404732 15.6396886043 63.2516495413 0.5951865806
    15.9329536347 -25.7714555458 -28.3295968272 15.1703984283 67.5454622408 0.1054082598
    16.3798617643 -17.3516069257 -28.2715910348 14.6867330806 71.6363169037 -0.3740835835
    16.8095725514 -8.8736306027 -28.2012430192 14.192895076 75.5214844194 -0.8436934783
    17.2189078182 -0.3488835477 -28.1183306193 13.6934003647 79.1902251969 -1.3043784599
    17.6052227689 8.2167929231 -28.022501806 13.1930334366 82.6229590625 -1.757288082
    17.9663922974 16.8193876605 -27.9132875786 12.6968006921 85.7905145556 -2.2034570585
    18.3007865575 25.4535134299 -27.7901161648 12.2098817101 88.6534234625 -2.6435407646
    18.6072369893 34.1096475671 -27.6523294419 11.7375777579 91.1612680217 -3.077582544
    18.8849935799 42.7717840181 -27.4992027494 11.2852566424 93.2521330901 -3.5048040312
    19.133673916 51.4154822441 -27.3299694645 10.8582927975 94.8522638617 -3.9234142931
    19.3532045848 60.0063333954 -27.1438518655 10.4620013525 95.8760813097 -4.3304397875
    19.5437557084 68.498904393 -26.9400998624 10.1015648694 96.2267603495 -4.7215844578
    19.7056698585 76.8362578583 -26.7180390923 9.7819515143 95.797624446 -5.0911372336
    19.8393872924 84.9501710918 -26.4771295797 9.5078237185 94.4746449761 -5.4319519725
    19.9453703391 92.7621802633 -26.2170355677 9.2834369732 92.1403385512 -5.7355311052
    20.024030779 100.1855461122 -25.9377061549 9.1125293614 88.6793100575 -5.9922468944
    20.075665067 107.1281665912 -25.6394649647 8.9982038272 83.9855704774 -6.1917306885
    20.1004030492 113.4963484381 -25.3231052305 8.9428070124 77.9715477027 -6.3234481511
    20.0981761541 119.1992036191 -24.9899845143 8.9478106417 70.5784007536 -6.3774553543
    20.0687106201 124.153283243 -24.6421110162 9.0137036808 61.7868649136 -6.3452972101
    20.0115498943 128.2869407135 -24.2822114996 9.1399054058 51.6274563274 -6.2209699322
    19.9261078008 131.5438739494 -23.9137697552 9.3247106073 40.1885474349 -6.0018312584
    19.8117505567 133.8853705701 -23.5410248287 9.5652778255 27.6207108127 -5.6893175447
    19.667901633 135.2909784644 -23.1689203675 9.8576693672 14.1359287735 -5.2893274329
    19.49415955 135.7576129971 -22.8030005194 10.1969477512 0.0008297584 -4.8121651492
    Modulo
    α4 AA n AA t AA ABAn ABAt

    2.1518780333 112 0 112 15.8385014364 -105.8669491813


    2.6576851729 112 0 112 19.7581373927 -93.9832698302
    3.1418687026 112 0 112 23.5466007186 -81.0888260297
    3.5891261093 112 0 112 27.0235765655 -67.5938189532
    3.9858864407 112 0 112 30.0413146912 -53.9118760799
    4.321222307 112 0 112 32.4929136715 -40.4299313889
    4.5874376932 112 0 112 34.3153917313 -27.483338423

    4.7802859937 112 0 112 35.4878792471 -15.3387552242

    4.8988373276 112 0 112 36.0259996097 -4.1857301188


    4.9450648536 112 0 112 35.9738886668 5.8635818832
    4.9232478003 112 0 112 35.3953297274 14.768217505
    4.8392934166 112 0 112 34.3652375217 22.5478875472
    4.7000662509 112 0 112 32.9623394263 29.270328231
    4.5127891096 112 0 112 31.2634972025 35.0383642368
    4.2845534649 112 0 112 29.3397716668 39.9780046429
    4.0219536415 112 0 112 27.2540955304 44.228344927
    3.7308417755 112 0 112 25.060288939 47.9335729993
    3.4161900103 112 0 112 22.8031087894 51.2370197901
    3.0820418837 112 0 112 20.5190391143 54.2769587868
    2.7315349077 112 0 112 18.2375790969 57.1837236461
    2.3669793511 112 0 112 15.9828465499 60.0776493376
    1.9899828231 112 0 112 13.7753733677 63.0673228587
    1.6016152889 112 0 112 11.6340162773 66.2476355996
    1.2026136564 112 0 112 9.5779352497 69.6971546252
    0.7936281048 112 0 112 7.628598784 73.4743833222
    0.3755126886 112 0 112 5.811755863 77.612588927
    -0.0503410209 112 0 112 4.1592651107 82.1130779726
    -0.4816381154 112 0 112 2.7105914333 86.9371536501
    -0.9148100163 112 0 112 1.5136750489 91.9975361525
    -1.3446910546 112 0 112 0.6247670741 97.1507666771
    -1.7643203777 112 0 112 0.1067507442 102.1929421271
    -2.164968631 112 0 112 0.0254925639 106.8617713383
    -2.5364889532 112 0 112 0.4439695798 110.8479614513
    -2.8680541094 112 0 112 1.4143505429 113.8178326798
    -3.1492570454 112 0 112 2.9688434298 115.44655156
    -3.37143271 112 0 112 5.1108030781 115.4578194116
    -3.528944566 112 0 112 7.8080404898 113.662441749
    -3.6201270216 112 0 112 10.9901920627 109.9866408362
    -3.6476286829 112 0 112 14.5512593446 104.4825594313
    -3.6180569646 112 0 112 18.3571919054 97.3180256338
    -3.5410225137 112 0 112 22.2571083753 88.7485306416
    -3.4278375049 112 0 112 26.0959352064 79.0789939609
    -3.2901754784 112 0 112 29.7261661377 68.6244780889
    -3.1389481068 112 0 112 33.0170324601 57.6774533715
    -2.9835397401 112 0 112 35.8602921686 46.4858053863
    -2.8314210041 112 0 112 38.1727197286 35.2422266661
    -2.6880780645 112 0 112 39.8959650817 24.0831290804
    -2.5571563588 112 0 112 40.9946915895 13.0941047737
    -2.4407176693 112 0 112 41.4538704248 2.3189817149
    -2.3395305585 112 0 112 41.2759239889 -8.229838837
    -2.2533415056 112 0 112 40.4781794801 -18.5612565233
    -2.1810984994 112 0 112 39.0908820343 -28.6963261172
    -2.1211167743 112 0 112 37.1558525612 -38.6603378038
    -2.0711877556 112 0 112 34.7257602801 -48.4760552865
    -2.0286386389 112 0 112 31.8639031505 -58.1578968215
    -1.9903532438 112 0 112 28.6443367526 -67.706815969
    -1.9527664349 112 0 112 25.1521515504 -77.1056886872
    -1.9118456305 112 0 112 21.4836620339 -86.3151144484
    -1.8630743583 112 0 112 17.7462364921 -95.2696753239
    -1.8014546683 112 0 112 14.057466378 -103.8748580711
    -1.7215472556 112 0 112 10.5433586981 -112.0050191396
    -1.6175697235 112 0 112 7.335248699 -119.5029433952
    -1.4835734165 112 0 112 4.5651929048 -126.1816843135
    -1.3137161817 112 0 112 2.3597347 -131.829431677
    -1.102640626 112 0 112 0.8321508527 -136.218075148
    -0.8459535685 112 0 112 0.0735868188 -139.1158593247
    -0.5407821625 112 0 112 0.1438439515 -140.3040177951
    -0.1863572521 112 0 112 1.062930605 -139.5965386228
    0.2154507379 112 0 112 2.8047358592 -136.8613385082
    0.6597367259 112 0 112 5.2942175295 -132.0402876843
    1.1384038008 112 0 112 8.4092233485 -125.1649859826
    1.6403229685 112 0 112 11.9874596817 -116.3652035232
    2.1518469377 112 0 112 15.838263073 -105.867633283
    Módulo Módulo
    ABA ABn AB t AB

    107.0451729724 21.5978224247 64.556340999 68.0733949254


    96.0376957304 19.0083081238 79.7305551879 81.9650975007
    84.438380564 16.1045800303 94.2560610769 95.6219773257
    72.7955908766 13.0353773881 107.6737832799 108.4599680502
    61.7168613171 9.9685780214 119.5765932199 119.9913921656
    51.8687650805 7.077317948 129.6366692114 129.8297132152
    43.9645311648 4.5255743851 137.6231307957 137.6975197799

    38.6609232338 2.4551866749 143.4085798119 143.4295949422

    36.2683468676 0.975883527 146.9651198292 146.9683598434


    36.4486249166 0.1592169802 148.3519456071 148.3520310459
    38.3527002281 0.0365706902 147.6974340103 147.6974385379
    41.1020289373 0.600787831 145.1788024979 145.1800456011
    44.082512805 1.8105582629 141.0019875266 141.013611427
    46.9584201791 3.5965413734 135.3836732884 135.4314369078
    49.5889408708 5.868242883 128.5366039478 128.6704893477
    51.9512484755 8.5208412178 120.6586092444 120.9591035014
    54.0892364725 11.4413982261 111.925253266 112.5085237305
    56.0822072269 14.5141312218 102.4857003093 103.5083512235
    58.0260219326 17.6246315551 92.4612565111 94.1260409933
    60.0215589713 20.6630727882 81.9460472324 84.511048
    62.1673172477 23.5265577201 71.0093805329 74.8052875258
    64.5542262287 26.1208151091 59.6994846939 65.1638354817
    67.2614269643 28.3614839553 48.048458666 55.7945172246
    70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.9303127382 10.6473901826 -105.86833698 106.4024045434
    110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    91.4968882764 2.3642836277 -106.230675411 106.2569820546
    83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    44.5309247349 3.5309729459 -67.6002451684 67.692399254
    48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    81.10436459 11.3691727271 -58.5829930477 59.6760015661
    88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    139.115878787 25.7334730567 -25.3786070541 36.1425695208
    140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    139.600585303 27.0409635378 -5.5907175629 27.6128562797
    136.8900745908 27.027601241 6.4635221369 27.7897165739
    132.1463821336 26.4906441808 19.792101778 33.0678321319
    125.4471552222 25.3992282382 34.1521140234 42.5615752453
    116.9810231645 23.75501084 49.2096890558 54.64333479
    107.0458142764 21.5979677745 64.5554081316 68.072556372
    longitud θ2
    eslabones
    (rad)
    θ2° w2
    a b c d valores valores

    7 22 30 40.00 0 0 4
    7 22 30 40.00 5 0.08726639 4
    7 22 30 40.00 10 0.17453278 4
    7 22 30 40.00 15 0.26179917 4
    7 22 30 40.00 20 0.34906556 4
    7 22 30 40.00 25 0.43633194 4
    7 22 30 40.00 30 0.52359833 4
    7 22 30 40.00 35 0.61086472 4
    7 22 30 40.00 40 0.69813111 4
    7 22 30 40.00 45 0.7853975 4
    7 22 30 40.00 50 0.87266389 4
    7 22 30 40.00 55 0.95993028 4
    7 22 30 40.00 60 1.04719667 4
    7 22 30 40.00 65 1.13446306 4
    7 22 30 40.00 70 1.22172944 4
    7 22 30 40.00 75 1.30899583 4
    7 22 30 40.00 80 1.39626222 4
    7 22 30 40.00 85 1.48352861 4
    7 22 30 40.00 90 1.570795 4
    7 22 30 40.00 95 1.65806139 4
    7 22 30 40.00 100 1.74532778 4
    7 22 30 40.00 105 1.83259417 4
    7 22 30 40.00 110 1.91986056 4
    7 22 30 40.00 115 2.00712694 4
    7 22 30 40.00 120 2.09439333 4
    7 22 30 40.00 125 2.18165972 4
    7 22 30 40.00 130 2.26892611 4
    7 22 30 40.00 135 2.3561925 4
    7 22 30 40.00 140 2.44345889 4
    7 22 30 40.00 145 2.53072528 4
    7 22 30 40.00 150 2.61799167 4
    7 22 30 40.00 155 2.70525806 4
    7 22 30 40.00 160 2.79252444 4
    7 22 30 40.00 165 2.87979083 4
    7 22 30 40.00 170 2.96705722 4
    7 22 30 40.00 175 3.05432361 4
    7 22 30 40.00 180 3.14159 4
    7 22 30 40.00 185 3.22885639 4
    7 22 30 40.00 190 3.31612278 4
    7 22 30 40.00 195 3.40338917 4
    7 22 30 40.00 200 3.49065556 4
    7 22 30 40.00 205 3.57792194 4
    7 22 30 40.00 210 3.66518833 4
    7 22 30 40.00 215 3.75245472 4
    7 22 30 40.00 220 3.83972111 4
    7 22 30 40.00 225 3.9269875 4
    7 22 30 40.00 230 4.01425389 4
    7 22 30 40.00 235 4.10152028 4
    7 22 30 40.00 240 4.18878667 4
    7 22 30 40.00 245 4.27605306 4
    7 22 30 40.00 250 4.36331944 4
    7 22 30 40.00 255 4.45058583 4
    7 22 30 40.00 260 4.53785222 4
    7 22 30 40.00 265 4.62511861 4
    7 22 30 40.00 270 4.712385 4
    7 22 30 40.00 275 4.79965139 4
    7 22 30 40.00 280 4.88691778 4
    7 22 30 40.00 285 4.97418417 4
    7 22 30 40.00 290 5.06145056 4
    7 22 30 40.00 295 5.14871694 4
    7 22 30 40.00 300 5.23598333 4
    7 22 30 40.00 305 5.32324972 4
    7 22 30 40.00 310 5.41051611 4
    7 22 30 40.00 315 5.4977825 4
    7 22 30 40.00 320 5.58504889 4
    7 22 30 40.00 325 5.67231528 4
    7 22 30 40.00 330 5.75958167 4
    7 22 30 40.00 335 5.84684806 4
    7 22 30 40.00 340 5.93411444 4
    7 22 30 40.00 345 6.02138083 4
    7 22 30 40.00 350 6.10864722 4
    7 22 30 40.00 355 6.19591361 4
    7 22 30 40.00 360 6.28318 4
    Módulo Módulo Módulo
    w3 w4 VA VB/A VB α2

    -0.8484879984 -0.8484853647 28 -18.6667359654 -25.4545609418 0


    -0.9476798796 -0.7959964012 28 -20.8489573514 -23.8798920373 0
    -1.0345530594 -0.7326795577 28 -22.7601673063 -21.9803867325 0
    -1.1083069924 -0.6591756819 28 -24.3827538322 -19.7752704569 0
    -1.1685522257 -0.5764424811 28 -25.708148965 -17.2932744338 0
    -1.215298573 -0.4857062881 28 -26.7365686051 -14.571188642 0
    -1.2489157431 -0.3883973217 28 -27.4761463471 -11.651919651 0

    -1.270072998 -0.2860761364 28 -27.9416059567 -8.5822840926 0

    -1.2796661427 -0.1803592274 28 -28.1526551397 -5.4107768212 0


    -1.2787403011 -0.0728507562 28 -28.1322866235 -2.1855226848 0
    -1.268415793 0.03491451 28 -27.9051474464 1.047435299 0
    -1.2498224878 0.1415141725 28 -27.4960947314 4.2454251764 0
    -1.2240458144 0.2456663227 28 -26.9290079167 7.3699896802 0
    -1.1920855903 0.3462437183 28 -26.2258829871 10.3873115483 0
    -1.1548272533 0.4422760406 28 -25.4061995715 13.2682812184 0
    -1.1130240447 0.5329428117 28 -24.4865289837 15.9882843524 0
    -1.0672881723 0.6175596658 28 -23.4803397901 18.5267899752 0
    -1.0180888689 0.6955604748 28 -22.3979551158 20.8668142431 0
    -0.9657554536 0.7664774742 28 -21.2466199786 22.9943242269 0
    -0.9104838648 0.8299211366 28 -20.0306450253 24.8976340973 0
    -0.8523456019 0.8855611727 28 -18.7516032407 26.5668351823 0
    -0.7912985119 0.9331097668 28 -17.4085672613 27.9932930052 0
    -0.7271993686 0.9723079751 28 -15.9983861093 29.169239254 0
    -0.659818682 1.0029161549 28 -14.5160110049 30.0874846463 0
    -0.5888586334 1.0247093065 28 -12.9548899358 30.7412791935 0
    -0.513975409 1.0374782697 28 -11.3074589978 31.1243480919 0
    -0.4348074344 1.0410377386 28 -9.5657635574 31.2311321594 0
    -0.3510109706 1.0352419382 28 -7.7222413542 31.0572581469 0
    -0.2623040437 1.0200084017 28 -5.7706889603 30.6002520513 0
    -0.168518555 0.9953494334 28 -3.7074082092 29.8604830027 0
    -0.0696584995 0.9614094264 28 -1.5324869891 28.8422827906 0
    0.0340404598 0.9185042404 28 0.748890116 27.5551272106 0
    0.1420578595 0.8671566223 28 3.1252729091 26.0146986702 0
    0.2535520874 0.8081198079 28 5.5781459236 24.2435942383 0
    0.3673519139 0.7423809341 28 8.0817421052 22.2714280217 0
    0.481984679 0.6711376541 28 10.6036629387 20.1341296219 0
    0.595744015 0.5957457562 28 13.106368329 17.8723726874 0
    0.7067914718 0.5176419168 28 15.5494123805 15.5292575039 0
    0.8132778611 0.4382520784 28 17.8921129434 13.1475623515 0
    0.9134647305 0.3588999602 28 20.0962240712 10.7669988055 0
    1.0058263987 0.2807302161 28 22.1281807715 8.4219064844 0
    1.0891183926 0.2046567658 28 23.9606046364 6.1397029743 0
    1.1624067145 0.1313404856 28 25.5729477188 3.9402145686 0
    1.2250608976 0.0611941428 28 26.9513397463 1.8358242844 0
    1.2767197345 -0.0055919278 28 28.0878341584 -0.1677578329 0
    1.3172409134 -0.0690116358 28 28.9793000956 -2.0703490732 0
    1.3466450751 -0.1292001256 28 29.6261916519 -3.876003768 0
    1.3650622961 -0.1863917567 28 30.0313705143 -5.5917527015 0
    1.3726859938 -0.240882625 28 30.1990918629 -7.2264787487 0
    1.3697366036 -0.2929991769 28 30.1342052783 -8.7899753067 0
    1.3564354939 -0.3430730217 28 29.8415808657 -10.2921906501 0
    1.3329884749 -0.3914211723 28 29.3257464484 -11.7426351682 0
    1.2995777734 -0.4383305401 28 28.590711015 -13.1499162023 0
    1.2563612733 -0.4840454167 28 27.639948013 -14.5213625006 0
    1.2034779741 -0.5287567769 28 26.4765154299 -15.8627033077 0
    1.1410588534 -0.572592438 28 25.1032947749 -17.1777731409 0
    1.0692425431 -0.6156073621 28 23.5233359477 -18.4682208621 0
    0.9881953716 -0.65777367 28 21.7402981752 -19.7332100992 0
    0.8981353535 -0.6989702458 28 19.7589777779 -20.9691073728 0
    0.799359584 -0.7389721553 28 17.5859108469 -22.1691646582 0
    0.6922742066 -0.7774404929 28 15.2300325462 -23.323214786 0
    0.5774256622 -0.8139136998 28 12.7033645692 -24.4174109926 0
    0.4555313034 -0.8478018475 28 10.0216886753 -25.434055426 0
    0.3275067452 -0.8783857997 28 7.2051483954 -26.3515739906 0
    0.194486603 -0.9048234676 28 4.2787052666 -27.1447040284 0
    0.0578347248 -0.926165447 28 1.2723639467 -27.7849634101 0
    -0.080860135 -0.9413820167 28 -1.7789229702 -28.2414605022 0
    -0.2198067958 -0.9494026813 28 -4.8357495087 -28.482080439 0
    -0.3570546087 -0.9491680786 28 -7.8552013916 -28.475042357 0
    -0.4905570827 -0.9396922223 28 -10.7922558184 -28.1907666697 0
    -0.618253528 -0.920130937 28 -13.6015776168 -27.6039281108 0
    -0.7381629434 -0.8898503777 28 -16.2395847545 -26.6955113306 0
    -0.8484816137 -0.8484882198 28 -18.6665955012 -25.4546465942 0
    A B C D E F

    19.4942085804 19.4941480706 135.7576129992 -22.8029785735 10.196969697 -4.35628133E-05


    19.9005517755 19.2904025192 135.2973607093 -22.449232482 10.5773517786 -14.4768965702
    20.2725390214 19.0569441128 133.934802501 -22.113890694 10.9924010608 -28.9625366418
    20.6063265561 18.7945368788 131.7039102553 -21.8031948545 11.4352692802 -43.1201649458
    20.8986588063 18.5044626288 128.6456033173 -21.5231517231 11.8989437691 -56.6300030699
    21.1469058412 18.1885238806 124.8059709079 -21.2792944747 12.3764938106 -69.2079803443
    21.3490617074 17.8490084601 120.2352331189 -21.0764694438 12.8612945302 -80.6201126326

    21.5037095759 17.4886219705 114.9872313179 -20.9186633051 13.3472132512 -90.6913006149

    21.6099630535 17.1103977295 109.1191257973 -20.8088802396 13.8287486614 -99.3082551833


    21.6673945178 16.7175952736 102.6909897905 -20.7490726253 14.3011191265 -106.4171362843
    21.6759610103 16.3135981892 95.7650925301 -20.7401232948 14.7603019658 -112.0171004748
    21.6359364719 15.9018202707 88.4048060549 -20.7818731828 15.2030297007 -116.1512277173
    21.5478565683 15.4856264487 80.6732002986 -20.8731856052 15.6267518535 -118.8962713906
    21.4124796136 15.0682721817 72.6314771227 -21.0120374261 16.0295718426 -120.3524380665
    21.230764639 14.6528625195 64.3374277498 -21.1956276823 16.4101681888 -120.6340627565
    21.0038657306 14.2423301084 55.8440884148 -21.4204954278 16.767708045 -119.8616929995
    20.7331404685 13.8394300941 47.1987332941 -21.6826402062 17.1017594028 -118.1557922828
    20.4201695918 13.44674915 38.4422997179 -21.9776403156 17.4122065603 -115.6320485745
    20.0667847653 13.0667255882 29.609301744 -22.3007656636 17.6991717999 -112.3981310113
    19.6751013836 12.7016775464 20.7282617585 -22.6470833783 17.9629448451 -108.5516658016
    19.2475535594 12.3538364331 11.8226775978 -23.0115554011 18.2039206048 -104.179183683
    18.7869286916 12.025383038 2.9125420068 -23.3891280371 18.4225449596 -99.3558080804
    18.2963991837 11.7184838671 -5.9835641093 -23.7748139196 18.6192678657 -94.1454905863
    17.7795489254 11.4353252799 -14.8457823036 -24.1637670906 18.7945028065 -88.6016475763
    17.240392019 11.1781428515 -23.6496836598 -24.5513519593 18.9485915675 -82.7681011199
    16.6833809142 10.9492430429 -32.3624105669 -24.9332067988 19.0817734183 -76.6802735341
    16.1134006558 10.7510137808 -40.9383847156 -25.3053021975 19.1941580353 -70.3666232239
    15.5357454362 10.5859200152 -49.3148687385 -25.6639945009 19.2857018911 -63.8503342632
    14.9560732556 10.456479911 -57.407892375 -26.006073767 19.3561883611 -57.1512758939
    14.3803345039 10.3652173264 -65.1093258071 -26.3288051297 19.4052124383 -50.2882215333
    13.8146710503 10.3145869798 -72.2861415678 -26.6299617681 19.4321716603 -43.2812518804
    13.2652843561 10.3068706248 -78.7830359627 -26.9078470144 19.4362655344 -36.1541627054
    12.7382745071 10.3440459134 -84.4294199637 -27.1613026672 19.416506229 -28.9365710117
    12.2394568548 10.427634411 -89.0511858311 -27.3897005442 19.3717433545 -21.6653042452
    11.7741685752 10.5585408345 -92.4865710142 -27.5929149305 19.3007050505 -14.3846291951
    11.3470826413 10.736900758 -94.6040687046 -27.7712750073 19.2020561949 -7.1449939742
    10.9620497111 10.9619570332 -95.3191386119 -27.9254984939 19.0744724174 -0.0002415663
    10.6219876436 11.2319843736 -94.606045909 -28.056610246 18.9167261182 6.9963491875
    10.3288330451 11.5442762389 -92.5019080495 -28.1658518055 18.727778462 13.7964677333
    10.0835602458 11.895199148 -89.1018633571 -28.2545892338 18.5068700009 20.3607111256
    9.8862626655 12.2803091135 -84.546541841 -28.324226565 18.2536026054 26.6612507616
    9.736282518 12.6945158786 -79.0048282145 -28.3761308626 17.9680067511 32.6827702808
    9.6323694863 13.1322753259 -72.6556195352 -28.4115726084 17.6505904933 38.4216703813
    9.5728481956 13.5877896295 -65.6718147553 -28.4316826344 17.3023689992 43.8839135969
    9.5557772955 14.0551977105 -58.208549738 -28.4374246422 16.9248756958 49.0820739004
    9.5790881188 14.5287437284 -50.3963076474 -28.4295809116 16.520157556 54.0321517513
    9.6406964636 15.0029169237 -42.3384530929 -28.4087481543 16.0907577131 58.7505784355
    9.7385857819 15.4725608857 -34.1121471649 -28.3753404732 15.6396886043 63.2516495413
    9.8708633668 15.9329536347 -25.7714555458 -28.3295968272 15.1703984283 67.5454622408
    10.0357929613 16.3798617643 -17.3516069257 -28.2715910348 14.6867330806 71.6363169037
    10.2318078642 16.8095725514 -8.8736306027 -28.2012430192 14.192895076 75.5214844194
    10.4575084596 17.2189078182 -0.3488835477 -28.1183306193 13.6934003647 79.1902251969
    10.7116475172 17.6052227689 8.2167929231 -28.022501806 13.1930334366 82.6229590625
    10.9931058647 17.9663922974 16.8193876605 -27.9132875786 12.6968006921 85.7905145556
    11.3008603012 18.3007865575 25.4535134299 -27.7901161648 12.2098817101 88.6534234625
    11.6339450074 18.6072369893 34.1096475671 -27.6523294419 11.7375777579 91.1612680217
    11.991407263 18.8849935799 42.7717840181 -27.4992027494 11.2852566424 93.2521330901
    12.3722580426 19.133673916 51.4154822441 -27.3299694645 10.8582927975 94.8522638617
    12.7754180325 19.3532045848 60.0063333954 -27.1438518655 10.4620013525 95.8760813097
    13.1996598216 19.5437557084 68.498904393 -26.9400998624 10.1015648694 96.2267603495
    13.6435474515 19.7056698585 76.8362578583 -26.7180390923 9.7819515143 95.797624446
    14.1053751889 19.8393872924 84.9501710918 -26.4771295797 9.5078237185 94.4746449761
    14.5831082435 19.9453703391 92.7621802633 -26.2170355677 9.2834369732 92.1403385512
    15.0743291533 20.024030779 100.1855461122 -25.9377061549 9.1125293614 88.6793100575
    15.5761945393 20.075665067 107.1281665912 -25.6394649647 8.9982038272 83.9855704774
    16.0854077189 20.1004030492 113.4963484381 -25.3231052305 8.9428070124 77.9715477027
    16.5982129754 20.0981761541 119.1992036191 -24.9899845143 8.9478106417 70.5784007536
    17.1104168467 20.0687106201 124.153283243 -24.6421110162 9.0137036808 61.7868649136
    17.6174403558 20.0115498943 128.2869407135 -24.2822114996 9.1399054058 51.6274563274
    18.1144035533 19.9261078008 131.5438739494 -23.9137697552 9.3247106073 40.1885474349
    18.5962402118 19.8117505567 133.8853705701 -23.5410248287 9.5652778255 27.6207108127
    19.0578364198 19.667901633 135.2909784644 -23.1689203675 9.8576693672 14.1359287735
    19.4941829096 19.49415955 135.7576129971 -22.8030005194 10.1969477512 0.0008297584
    Modulo
    α3 α4 AA n AAt AA ABAn

    -4.8121340537 2.1518780333 112 0 112 15.8385014364


    -4.2719668105 2.6576851729 112 0 112 19.7581373927
    -3.6858557286 3.1418687026 112 0 112 23.5466007186
    -3.0724463161 3.5891261093 112 0 112 27.0235765655
    -2.4505398218 3.9858864407 112 0 112 30.0413146912
    -1.837724154 4.321222307 112 0 112 32.4929136715
    -1.2492426556 4.5874376932 112 0 112 34.3153917313

    -0.6972161466 4.7802859937 112 0 112 35.4878792471

    -0.1902604599 4.8988373276 112 0 112 36.0259996097


    0.2665264492 4.9450648536 112 0 112 35.9738886668
    0.6712826139 4.9232478003 112 0 112 35.3953297274
    1.0249039794 4.8392934166 112 0 112 34.3652375217
    1.330469465 4.7000662509 112 0 112 32.9623394263
    1.5926529199 4.5127891096 112 0 112 31.2634972025
    1.8171820292 4.2845534649 112 0 112 29.3397716668
    2.0103793149 4.0219536415 112 0 112 27.2540955304
    2.1787987727 3.7308417755 112 0 112 25.060288939
    2.328955445 3.4161900103 112 0 112 22.8031087894
    2.4671344903 3.0820418837 112 0 112 20.5190391143
    2.5992601657 2.7315349077 112 0 112 18.2375790969
    2.7308022426 2.3669793511 112 0 112 15.9828465499
    2.8666964936 1.9899828231 112 0 112 13.7753733677
    3.0112561636 1.6016152889 112 0 112 11.6340162773
    3.168052483 1.2026136564 112 0 112 9.5779352497
    3.3397446965 0.7936281048 112 0 112 7.628598784
    3.5278449512 0.3755126886 112 0 112 5.811755863
    3.7324126351 -0.0503410209 112 0 112 4.1592651107
    3.9516888023 -0.4816381154 112 0 112 2.7105914333
    4.1817061888 -0.9148100163 112 0 112 1.5136750489
    4.4159439399 -1.3446910546 112 0 112 0.6247670741
    4.6451337331 -1.7643203777 112 0 112 0.1067507442
    4.8573532426 -2.164968631 112 0 112 0.0254925639
    5.0385437023 -2.5364889532 112 0 112 0.4439695798
    5.1735378491 -2.8680541094 112 0 112 1.4143505429
    5.2475705255 -3.1492570454 112 0 112 2.9688434298
    5.2480827005 -3.37143271 112 0 112 5.1108030781
    5.166474625 -3.528944566 112 0 112 7.8080404898
    4.9993927653 -3.6201270216 112 0 112 10.9901920627
    4.7492072469 -3.6476286829 112 0 112 14.5512593446
    4.4235466197 -3.6180569646 112 0 112 18.3571919054
    4.0340241201 -3.5410225137 112 0 112 22.2571083753
    3.5944997255 -3.4278375049 112 0 112 26.0959352064
    3.1192944586 -3.2901754784 112 0 112 29.7261661377
    2.621702426 -3.1389481068 112 0 112 33.0170324601
    2.1129911539 -2.9835397401 112 0 112 35.8602921686
    1.6019193939 -2.8314210041 112 0 112 38.1727197286
    1.0946876855 -2.6880780645 112 0 112 39.8959650817
    0.5951865806 -2.5571563588 112 0 112 40.9946915895
    0.1054082598 -2.4407176693 112 0 112 41.4538704248
    -0.3740835835 -2.3395305585 112 0 112 41.2759239889
    -0.8436934783 -2.2533415056 112 0 112 40.4781794801
    -1.3043784599 -2.1810984994 112 0 112 39.0908820343
    -1.757288082 -2.1211167743 112 0 112 37.1558525612
    -2.2034570585 -2.0711877556 112 0 112 34.7257602801
    -2.6435407646 -2.0286386389 112 0 112 31.8639031505
    -3.077582544 -1.9903532438 112 0 112 28.6443367526
    -3.5048040312 -1.9527664349 112 0 112 25.1521515504
    -3.9234142931 -1.9118456305 112 0 112 21.4836620339
    -4.3304397875 -1.8630743583 112 0 112 17.7462364921
    -4.7215844578 -1.8014546683 112 0 112 14.057466378
    -5.0911372336 -1.7215472556 112 0 112 10.5433586981
    -5.4319519725 -1.6175697235 112 0 112 7.335248699
    -5.7355311052 -1.4835734165 112 0 112 4.5651929048
    -5.9922468944 -1.3137161817 112 0 112 2.3597347
    -6.1917306885 -1.102640626 112 0 112 0.8321508527
    -6.3234481511 -0.8459535685 112 0 112 0.0735868188
    -6.3774553543 -0.5407821625 112 0 112 0.1438439515
    -6.3452972101 -0.1863572521 112 0 112 1.062930605
    -6.2209699322 0.2154507379 112 0 112 2.8047358592
    -6.0018312584 0.6597367259 112 0 112 5.2942175295
    -5.6893175447 1.1384038008 112 0 112 8.4092233485
    -5.2893274329 1.6403229685 112 0 112 11.9874596817
    -4.8121651492 2.1518469377 112 0 112 15.838263073
    Módulo Módulo
    ABAt ABA AB n ABt AB

    -105.8669491813 107.0451729724 21.5978224247 64.556340999 68.0733949254


    -93.9832698302 96.0376957304 19.0083081238 79.7305551879 81.9650975007
    -81.0888260297 84.438380564 16.1045800303 94.2560610769 95.6219773257
    -67.5938189532 72.7955908766 13.0353773881 107.6737832799 108.4599680502
    -53.9118760799 61.7168613171 9.9685780214 119.5765932199 119.9913921656
    -40.4299313889 51.8687650805 7.077317948 129.6366692114 129.8297132152
    -27.483338423 43.9645311648 4.5255743851 137.6231307957 137.6975197799

    -15.3387552242 38.6609232338 2.4551866749 143.4085798119 143.4295949422

    -4.1857301188 36.2683468676 0.975883527 146.9651198292 146.9683598434


    5.8635818832 36.4486249166 0.1592169802 148.3519456071 148.3520310459
    14.768217505 38.3527002281 0.0365706902 147.6974340103 147.6974385379
    22.5478875472 41.1020289373 0.600787831 145.1788024979 145.1800456011
    29.270328231 44.082512805 1.8105582629 141.0019875266 141.013611427
    35.0383642368 46.9584201791 3.5965413734 135.3836732884 135.4314369078
    39.9780046429 49.5889408708 5.868242883 128.5366039478 128.6704893477
    44.228344927 51.9512484755 8.5208412178 120.6586092444 120.9591035014
    47.9335729993 54.0892364725 11.4413982261 111.925253266 112.5085237305
    51.2370197901 56.0822072269 14.5141312218 102.4857003093 103.5083512235
    54.2769587868 58.0260219326 17.6246315551 92.4612565111 94.1260409933
    57.1837236461 60.0215589713 20.6630727882 81.9460472324 84.511048
    60.0776493376 62.1673172477 23.5265577201 71.0093805329 74.8052875258
    63.0673228587 64.5542262287 26.1208151091 59.6994846939 65.1638354817
    66.2476355996 67.2614269643 28.3614839553 48.048458666 55.7945172246
    69.6971546252 70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.4743833222 73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.612588927 77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.1130779726 82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9371536501 86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    91.9975361525 92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1507666771 97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.1929421271 102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.8617713383 106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8479614513 110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8178326798 113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.44655156 115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.4578194116 115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.662441749 113.9303127382 10.6473901826 -105.86833698 106.4024045434
    109.9866408362 110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    104.4825594313 105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    97.3180256338 99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    88.7485306416 91.4968882764 2.3642836277 -106.230675411 106.2569820546
    79.0789939609 83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    68.6244780889 74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    57.6774533715 66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    46.4858053863 58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    35.2422266661 51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    24.0831290804 46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    13.0941047737 43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    2.3189817149 41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    -8.229838837 42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    -18.5612565233 44.5309247349 3.5309729459 -67.6002451684 67.692399254
    -28.6963261172 48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    -38.6603378038 53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    -48.4760552865 59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    -58.1578968215 66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    -67.706815969 73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    -77.1056886872 81.10436459 11.3691727271 -58.5829930477 59.6760015661
    -86.3151144484 88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    -95.2696753239 96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    -103.8748580711 104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    -112.0050191396 112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    -119.5029433952 119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    -126.1816843135 126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    -131.829431677 131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    -136.218075148 136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    -139.1158593247 139.115878787 25.7334730567 -25.3786070541 36.1425695208
    -140.3040177951 140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    -139.5965386228 139.600585303 27.0409635378 -5.5907175629 27.6128562797
    -136.8613385082 136.8900745908 27.027601241 6.4635221369 27.7897165739
    -132.0402876843 132.1463821336 26.4906441808 19.792101778 33.0678321319
    -125.1649859826 125.4471552222 25.3992282382 34.1521140234 42.5615752453
    -116.3652035232 116.9810231645 23.75501084 49.2096890558 54.64333479
    -105.867633283 107.0458142764 21.5979677745 64.5554081316 68.072556372
    longitud θ2
    eslabones θ ° θ3(Rad) θ3°
    2 (rad)

    a b c d valores valores

    7 22 30 40.00 0 0 1.0888568381 62.38695401


    7 22 30 40.00 5 0.08726639 1.0692423328 61.26312469
    7 22 30 40.00 10 0.17453278 1.0475963462 60.02289997
    7 22 30 40.00 15 0.26179917 1.0241971026 58.68222093
    7 22 30 40.00 20 0.34906556 0.9993358134 57.25777279
    7 22 30 40.00 25 0.43633194 0.9733077832 55.76647525
    7 22 30 40.00 30 0.52359833 0.9464040833 54.22500549
    7 22 30 40.00 35 0.61086472 0.9189043278 52.64938423
    7 22 30 40.00 40 0.69813111 0.8910709194 51.05464605
    7 22 30 40.00 45 0.7853975 0.863144949 49.45460446
    7 22 30 40.00 50 0.87266389 0.8353437577 47.86171219
    7 22 30 40.00 55 0.95993028 0.8078600317 46.28700935
    7 22 30 40.00 60 1.04719667 0.7808622055 44.74014655
    7 22 30 40.00 65 1.13446306 0.754495904 43.22946747
    7 22 30 40.00 70 1.22172944 0.7288861452 41.76213514
    7 22 30 40.00 75 1.30899583 0.7041400489 40.34428706
    7 22 30 40.00 80 1.39626222 0.6803498306 38.98120681
    7 22 30 40.00 85 1.48352861 0.6575959111 37.67750216
    7 22 30 40.00 90 1.570795 0.6359500093 36.43728229
    7 22 30 40.00 95 1.65806139 0.615478129 35.26432896
    7 22 30 40.00 100 1.74532778 0.5962433745 34.16225778
    7 22 30 40.00 105 1.83259417 0.5783085514 33.13466724
    7 22 30 40.00 110 1.91986056 0.561738512 32.18527311
    7 22 30 40.00 115 2.00712694 0.5466022038 31.3180258
    7 22 30 40.00 120 2.09439333 0.5329743626 30.53720736
    7 22 30 40.00 125 2.18165972 0.5209367687 29.84750345
    7 22 30 40.00 130 2.26892611 0.5105789547 29.25404392
    7 22 30 40.00 135 2.3561925 0.5019982191 28.76240357
    7 22 30 40.00 140 2.44345889 0.4952987735 28.37855329
    7 22 30 40.00 145 2.53072528 0.4905898407 28.10875109
    7 22 30 40.00 150 2.61799167 0.4879825427 27.95936379
    7 22 30 40.00 155 2.70525806 0.4875854927 27.93661448
    7 22 30 40.00 160 2.79252444 0.4894991414 28.04625857
    7 22 30 40.00 165 2.87979083 0.4938091254 28.29320267
    7 22 30 40.00 170 2.96705722 0.5005791092 28.68109449
    7 22 30 40.00 175 3.05432361 0.509843829 29.21192429
    7 22 30 40.00 180 3.14159 0.521603186 29.88568638
    7 22 30 40.00 185 3.22885639 0.5358182044 30.70014763
    7 22 30 40.00 190 3.31612278 0.5524094548 31.65075706
    7 22 30 40.00 195 3.40338917 0.5712581634 32.73070942
    7 22 30 40.00 200 3.49065556 0.5922097917 33.93115031
    7 22 30 40.00 205 3.57792194 0.615079494 35.24148884
    7 22 30 40.00 210 3.66518833 0.6396586432 36.64977154
    7 22 30 40.00 215 3.75245472 0.6657215875 38.14306951
    7 22 30 40.00 220 3.83972111 0.6930319383 39.70783867
    7 22 30 40.00 225 3.9269875 0.7213479141 41.33022595
    7 22 30 40.00 230 4.01425389 0.7504265081 42.99630807
    7 22 30 40.00 235 4.10152028 0.7800264492 44.6922612
    7 22 30 40.00 240 4.18878667 0.8099100705 46.40446802
    7 22 30 40.00 245 4.27605306 0.8398442762 48.11957312
    7 22 30 40.00 250 4.36331944 0.8696008283 49.82449941
    7 22 30 40.00 255 4.45058583 0.8989561704 51.50643804
    7 22 30 40.00 260 4.53785222 0.9276909867 53.15282313
    7 22 30 40.00 265 4.62511861 0.955589667 54.75130111
    7 22 30 40.00 270 4.712385 0.9824398243 56.28970311
    7 22 30 40.00 275 4.79965139 1.0080319925 57.75602757
    7 22 30 40.00 280 4.88691778 1.0321596139 59.13843961
    7 22 30 40.00 285 4.97418417 1.0546194172 60.42529264
    7 22 30 40.00 290 5.06145056 1.0752122767 61.60517757
    7 22 30 40.00 295 5.14871694 1.0937446332 62.66700428
    7 22 30 40.00 300 5.23598333 1.1100305424 63.60011893
    7 22 30 40.00 305 5.32324972 1.1238943942 64.3944598
    7 22 30 40.00 310 5.41051611 1.1351743104 65.04075193
    7 22 30 40.00 315 5.4977825 1.1437261808 65.53073843
    7 22 30 40.00 320 5.58504889 1.1494282303 65.85744208
    7 22 30 40.00 325 5.67231528 1.1521859307 66.0154468
    7 22 30 40.00 330 5.75958167 1.1519369851 66.00118326
    7 22 30 40.00 335 5.84684806 1.1486560248 65.81319792
    7 22 30 40.00 340 5.93411444 1.1423585953 65.45238149
    7 22 30 40.00 345 6.02138083 1.1331039773 64.92213049
    7 22 30 40.00 350 6.10864722 1.120996416 64.22841773
    7 22 30 40.00 355 6.19591361 1.1061844214 63.37975225
    7 22 30 40.00 360 6.28318 1.0888579638 62.38701851
    θ4 (Rad) θ4° w2 w3 w4 α2

    2.4342622209 139.5436941915 4 -0.8484879984 -0.8484853647 0


    2.4163036609 138.5142225978 4 -0.9476798796 -0.7959964012 0
    2.3996092023 137.5572154199 4 -1.0345530594 -0.7326795577 0
    2.3844086897 136.6858484513 4 -1.1083069924 -0.6591756819 0
    2.370914461 135.9122939414 4 -1.1685522257 -0.5764424811 0
    2.3593149253 135.2473524041 4 -1.215298573 -0.4857062881 0
    2.3497693847 134.7001558118 4 -1.2489157431 -0.3883973217 0

    2.3424043803 134.2779581052 4 -1.270072998 -0.2860761364 0

    2.3373116651 133.9860190165 4 -1.2796661427 -0.1803592274 0


    2.3345477451 133.8275777448 4 -1.2787403011 -0.0728507562 0
    2.3341347946 133.8039054225 4 -1.268415793 0.03491451 0
    2.3360626656 133.9144203194 4 -1.2498224878 0.1415141725 0
    2.3402916728 134.1568474851 4 -1.2240458144 0.2456663227 0
    2.3467558372 134.5274046787 4 -1.1920855903 0.3462437183 0
    2.3553663041 135.0209983234 4 -1.1548272533 0.4422760406 0
    2.3660147042 135.6314161625 4 -1.1130240447 0.5329428117 0
    2.3785762823 136.3515066264 4 -1.0672881723 0.6175596658 0
    2.3929126774 137.1733381936 4 -1.0180888689 0.6955604748 0
    2.4088742874 138.0883349449 4 -0.9657554536 0.7664774742 0
    2.4263021944 139.0873869419 4 -0.9104838648 0.8299211366 0
    2.4450296616 140.1609360128 4 -0.8523456019 0.8855611727 0
    2.4648832371 141.2990390707 4 -0.7912985119 0.9331097668 0
    2.4856835266 142.4914123512 4 -0.7271993686 0.9723079751 0
    2.5072457098 143.7274610704 4 -0.659818682 1.0029161549 0
    2.5293799016 144.9963000903 4 -0.5888586334 1.0247093065 0
    2.5518914727 146.2867723191 4 -0.513975409 1.0374782697 0
    2.5745814695 147.5874727729 4 -0.4348074344 1.0410377386 0
    2.5972472909 148.886787378 4 -0.3510109706 1.0352419382 0
    2.6196837956 150.172956434 4 -0.2623040437 1.0200084017 0
    2.6416850131 151.4341727255 4 -0.168518555 0.9953494334 0
    2.6630466111 152.6587229266 4 -0.0696584995 0.9614094264 0
    2.6835692071 153.8351774775 4 0.0340404598 0.9185042404 0
    2.7030625102 154.9526279718 4 0.1420578595 0.8671566223 0
    2.7213501207 156.0009623334 4 0.2535520874 0.8081198079 0
    2.7382746402 156.9711577172 4 0.3673519139 0.7423809341 0
    2.7537025716 157.8555614289 4 0.481984679 0.6711376541 0
    2.7675283921 158.6481243881 4 0.595744015 0.5957457562 0
    2.7796771979 159.3445527486 4 0.7067914718 0.5176419168 0
    2.7901054834 159.9423525522 4 0.8132778611 0.4382520784 0
    2.7987998945 160.4407582838 4 0.9134647305 0.3588999602 0
    2.8057741225 160.840554793 4 1.0058263987 0.2807302161 0
    2.8110643818 161.1438180673 4 1.0891183926 0.2046567658 0
    2.8147240796 161.3536096589 4 1.1624067145 0.1313404856 0
    2.8168183041 161.4736607449 4 1.2250608976 0.0611941428 0
    2.8174186617 161.5080761472 4 1.2767197345 -0.0055919278 0
    2.8165988252 161.4610791532 4 1.3172409134 -0.0690116358 0
    2.814430981 161.3368078303 4 1.3466450751 -0.1292001256 0
    2.8109832116 161.1391649989 4 1.3650622961 -0.1863917567 0
    2.8063177504 160.8717181734 4 1.3726859938 -0.240882625 0
    2.8004899883 160.537642641 4 1.3697366036 -0.2929991769 0
    2.7935480978 160.1396998723 4 1.3564354939 -0.3430730217 0
    2.7855331441 159.6802439286 4 1.3329884749 -0.3914211723 0
    2.7764795797 159.1612497894 4 1.2995777734 -0.4383305401 0
    2.7664160416 158.5843590738 4 1.2563612733 -0.4840454167 0
    2.7553664007 157.9509401664 4 1.2034779741 -0.5287567769 0
    2.7433510325 157.2621610977 4 1.1410588534 -0.572592438 0
    2.730388301 156.5190745819 4 1.0692425431 -0.6156073621 0
    2.7164962564 155.7227153339 4 0.9881953716 -0.65777367 0
    2.7016945546 154.874210136 4 0.8981353535 -0.6989702458 0
    2.6860066074 153.9749010638 4 0.799359584 -0.7389721553 0
    2.6694619597 153.0264817647 4 0.6922742066 -0.7774404929 0
    2.652098874 152.0311456449 4 0.5774256622 -0.8139136998 0
    2.6339670765 150.9917432399 4 0.4555313034 -0.8478018475 0
    2.6151305769 149.9119439008 4 0.3275067452 -0.8783857997 0
    2.5956704345 148.7963943349 4 0.194486603 -0.9048234676 0
    2.5756872887 147.6508636861 4 0.0578347248 -0.926165447 0
    2.5553034283 146.482362131 4 -0.080860135 -0.9413820167 0
    2.534664135 145.299217928 4 -0.2198067958 -0.9494026813 0
    2.5139380285 144.111097175 4 -0.3570546087 -0.9491680786 0
    2.4933161603 142.928951866 4 -0.4905570827 -0.9396922223 0
    2.4730096726 141.7648856926 4 -0.618253528 -0.920130937 0
    2.4532459508 140.6319334833 4 -0.7381629434 -0.8898503777 0
    2.4342633467 139.5437587259 4 -0.8484816137 -0.8484882198 0
    A B C D E F

    19.4942085804 19.4941480706 135.7576129992 -22.8029785735 10.196969697 -4.35628133E-05


    19.9005517755 19.2904025192 135.2973607093 -22.449232482 10.5773517786 -14.4768965702
    20.2725390214 19.0569441128 133.934802501 -22.113890694 10.9924010608 -28.9625366418
    20.6063265561 18.7945368788 131.7039102553 -21.8031948545 11.4352692802 -43.1201649458
    20.8986588063 18.5044626288 128.6456033173 -21.5231517231 11.8989437691 -56.6300030699
    21.1469058412 18.1885238806 124.8059709079 -21.2792944747 12.3764938106 -69.2079803443
    21.3490617074 17.8490084601 120.2352331189 -21.0764694438 12.8612945302 -80.6201126326

    21.5037095759 17.4886219705 114.9872313179 -20.9186633051 13.3472132512 -90.6913006149

    21.6099630535 17.1103977295 109.1191257973 -20.8088802396 13.8287486614 -99.3082551833


    21.6673945178 16.7175952736 102.6909897905 -20.7490726253 14.3011191265 -106.4171362843
    21.6759610103 16.3135981892 95.7650925301 -20.7401232948 14.7603019658 -112.0171004748
    21.6359364719 15.9018202707 88.4048060549 -20.7818731828 15.2030297007 -116.1512277173
    21.5478565683 15.4856264487 80.6732002986 -20.8731856052 15.6267518535 -118.8962713906
    21.4124796136 15.0682721817 72.6314771227 -21.0120374261 16.0295718426 -120.3524380665
    21.230764639 14.6528625195 64.3374277498 -21.1956276823 16.4101681888 -120.6340627565
    21.0038657306 14.2423301084 55.8440884148 -21.4204954278 16.767708045 -119.8616929995
    20.7331404685 13.8394300941 47.1987332941 -21.6826402062 17.1017594028 -118.1557922828
    20.4201695918 13.44674915 38.4422997179 -21.9776403156 17.4122065603 -115.6320485745
    20.0667847653 13.0667255882 29.609301744 -22.3007656636 17.6991717999 -112.3981310113
    19.6751013836 12.7016775464 20.7282617585 -22.6470833783 17.9629448451 -108.5516658016
    19.2475535594 12.3538364331 11.8226775978 -23.0115554011 18.2039206048 -104.179183683
    18.7869286916 12.025383038 2.9125420068 -23.3891280371 18.4225449596 -99.3558080804
    18.2963991837 11.7184838671 -5.9835641093 -23.7748139196 18.6192678657 -94.1454905863
    17.7795489254 11.4353252799 -14.8457823036 -24.1637670906 18.7945028065 -88.6016475763
    17.240392019 11.1781428515 -23.6496836598 -24.5513519593 18.9485915675 -82.7681011199
    16.6833809142 10.9492430429 -32.3624105669 -24.9332067988 19.0817734183 -76.6802735341
    16.1134006558 10.7510137808 -40.9383847156 -25.3053021975 19.1941580353 -70.3666232239
    15.5357454362 10.5859200152 -49.3148687385 -25.6639945009 19.2857018911 -63.8503342632
    14.9560732556 10.456479911 -57.407892375 -26.006073767 19.3561883611 -57.1512758939
    14.3803345039 10.3652173264 -65.1093258071 -26.3288051297 19.4052124383 -50.2882215333
    13.8146710503 10.3145869798 -72.2861415678 -26.6299617681 19.4321716603 -43.2812518804
    13.2652843561 10.3068706248 -78.7830359627 -26.9078470144 19.4362655344 -36.1541627054
    12.7382745071 10.3440459134 -84.4294199637 -27.1613026672 19.416506229 -28.9365710117
    12.2394568548 10.427634411 -89.0511858311 -27.3897005442 19.3717433545 -21.6653042452
    11.7741685752 10.5585408345 -92.4865710142 -27.5929149305 19.3007050505 -14.3846291951
    11.3470826413 10.736900758 -94.6040687046 -27.7712750073 19.2020561949 -7.1449939742
    10.9620497111 10.9619570332 -95.3191386119 -27.9254984939 19.0744724174 -0.0002415663
    10.6219876436 11.2319843736 -94.606045909 -28.056610246 18.9167261182 6.9963491875
    10.3288330451 11.5442762389 -92.5019080495 -28.1658518055 18.727778462 13.7964677333
    10.0835602458 11.895199148 -89.1018633571 -28.2545892338 18.5068700009 20.3607111256
    9.8862626655 12.2803091135 -84.546541841 -28.324226565 18.2536026054 26.6612507616
    9.736282518 12.6945158786 -79.0048282145 -28.3761308626 17.9680067511 32.6827702808
    9.6323694863 13.1322753259 -72.6556195352 -28.4115726084 17.6505904933 38.4216703813
    9.5728481956 13.5877896295 -65.6718147553 -28.4316826344 17.3023689992 43.8839135969
    9.5557772955 14.0551977105 -58.208549738 -28.4374246422 16.9248756958 49.0820739004
    9.5790881188 14.5287437284 -50.3963076474 -28.4295809116 16.520157556 54.0321517513
    9.6406964636 15.0029169237 -42.3384530929 -28.4087481543 16.0907577131 58.7505784355
    9.7385857819 15.4725608857 -34.1121471649 -28.3753404732 15.6396886043 63.2516495413
    9.8708633668 15.9329536347 -25.7714555458 -28.3295968272 15.1703984283 67.5454622408
    10.0357929613 16.3798617643 -17.3516069257 -28.2715910348 14.6867330806 71.6363169037
    10.2318078642 16.8095725514 -8.8736306027 -28.2012430192 14.192895076 75.5214844194
    10.4575084596 17.2189078182 -0.3488835477 -28.1183306193 13.6934003647 79.1902251969
    10.7116475172 17.6052227689 8.2167929231 -28.022501806 13.1930334366 82.6229590625
    10.9931058647 17.9663922974 16.8193876605 -27.9132875786 12.6968006921 85.7905145556
    11.3008603012 18.3007865575 25.4535134299 -27.7901161648 12.2098817101 88.6534234625
    11.6339450074 18.6072369893 34.1096475671 -27.6523294419 11.7375777579 91.1612680217
    11.991407263 18.8849935799 42.7717840181 -27.4992027494 11.2852566424 93.2521330901
    12.3722580426 19.133673916 51.4154822441 -27.3299694645 10.8582927975 94.8522638617
    12.7754180325 19.3532045848 60.0063333954 -27.1438518655 10.4620013525 95.8760813097
    13.1996598216 19.5437557084 68.498904393 -26.9400998624 10.1015648694 96.2267603495
    13.6435474515 19.7056698585 76.8362578583 -26.7180390923 9.7819515143 95.797624446
    14.1053751889 19.8393872924 84.9501710918 -26.4771295797 9.5078237185 94.4746449761
    14.5831082435 19.9453703391 92.7621802633 -26.2170355677 9.2834369732 92.1403385512
    15.0743291533 20.024030779 100.1855461122 -25.9377061549 9.1125293614 88.6793100575
    15.5761945393 20.075665067 107.1281665912 -25.6394649647 8.9982038272 83.9855704774
    16.0854077189 20.1004030492 113.4963484381 -25.3231052305 8.9428070124 77.9715477027
    16.5982129754 20.0981761541 119.1992036191 -24.9899845143 8.9478106417 70.5784007536
    17.1104168467 20.0687106201 124.153283243 -24.6421110162 9.0137036808 61.7868649136
    17.6174403558 20.0115498943 128.2869407135 -24.2822114996 9.1399054058 51.6274563274
    18.1144035533 19.9261078008 131.5438739494 -23.9137697552 9.3247106073 40.1885474349
    18.5962402118 19.8117505567 133.8853705701 -23.5410248287 9.5652778255 27.6207108127
    19.0578364198 19.667901633 135.2909784644 -23.1689203675 9.8576693672 14.1359287735
    19.4941829096 19.49415955 135.7576129971 -22.8030005194 10.1969477512 0.0008297584
    Modulo
    α3 α4 AA n AAt AA ABAn

    -4.8121340537 2.1518780333 112 0 112 15.8385014364


    -4.2719668105 2.6576851729 112 0 112 19.7581373927
    -3.6858557286 3.1418687026 112 0 112 23.5466007186
    -3.0724463161 3.5891261093 112 0 112 27.0235765655
    -2.4505398218 3.9858864407 112 0 112 30.0413146912
    -1.837724154 4.321222307 112 0 112 32.4929136715
    -1.2492426556 4.5874376932 112 0 112 34.3153917313

    -0.6972161466 4.7802859937 112 0 112 35.4878792471

    -0.1902604599 4.8988373276 112 0 112 36.0259996097


    0.2665264492 4.9450648536 112 0 112 35.9738886668
    0.6712826139 4.9232478003 112 0 112 35.3953297274
    1.0249039794 4.8392934166 112 0 112 34.3652375217
    1.330469465 4.7000662509 112 0 112 32.9623394263
    1.5926529199 4.5127891096 112 0 112 31.2634972025
    1.8171820292 4.2845534649 112 0 112 29.3397716668
    2.0103793149 4.0219536415 112 0 112 27.2540955304
    2.1787987727 3.7308417755 112 0 112 25.060288939
    2.328955445 3.4161900103 112 0 112 22.8031087894
    2.4671344903 3.0820418837 112 0 112 20.5190391143
    2.5992601657 2.7315349077 112 0 112 18.2375790969
    2.7308022426 2.3669793511 112 0 112 15.9828465499
    2.8666964936 1.9899828231 112 0 112 13.7753733677
    3.0112561636 1.6016152889 112 0 112 11.6340162773
    3.168052483 1.2026136564 112 0 112 9.5779352497
    3.3397446965 0.7936281048 112 0 112 7.628598784
    3.5278449512 0.3755126886 112 0 112 5.811755863
    3.7324126351 -0.0503410209 112 0 112 4.1592651107
    3.9516888023 -0.4816381154 112 0 112 2.7105914333
    4.1817061888 -0.9148100163 112 0 112 1.5136750489
    4.4159439399 -1.3446910546 112 0 112 0.6247670741
    4.6451337331 -1.7643203777 112 0 112 0.1067507442
    4.8573532426 -2.164968631 112 0 112 0.0254925639
    5.0385437023 -2.5364889532 112 0 112 0.4439695798
    5.1735378491 -2.8680541094 112 0 112 1.4143505429
    5.2475705255 -3.1492570454 112 0 112 2.9688434298
    5.2480827005 -3.37143271 112 0 112 5.1108030781
    5.166474625 -3.528944566 112 0 112 7.8080404898
    4.9993927653 -3.6201270216 112 0 112 10.9901920627
    4.7492072469 -3.6476286829 112 0 112 14.5512593446
    4.4235466197 -3.6180569646 112 0 112 18.3571919054
    4.0340241201 -3.5410225137 112 0 112 22.2571083753
    3.5944997255 -3.4278375049 112 0 112 26.0959352064
    3.1192944586 -3.2901754784 112 0 112 29.7261661377
    2.621702426 -3.1389481068 112 0 112 33.0170324601
    2.1129911539 -2.9835397401 112 0 112 35.8602921686
    1.6019193939 -2.8314210041 112 0 112 38.1727197286
    1.0946876855 -2.6880780645 112 0 112 39.8959650817
    0.5951865806 -2.5571563588 112 0 112 40.9946915895
    0.1054082598 -2.4407176693 112 0 112 41.4538704248
    -0.3740835835 -2.3395305585 112 0 112 41.2759239889
    -0.8436934783 -2.2533415056 112 0 112 40.4781794801
    -1.3043784599 -2.1810984994 112 0 112 39.0908820343
    -1.757288082 -2.1211167743 112 0 112 37.1558525612
    -2.2034570585 -2.0711877556 112 0 112 34.7257602801
    -2.6435407646 -2.0286386389 112 0 112 31.8639031505
    -3.077582544 -1.9903532438 112 0 112 28.6443367526
    -3.5048040312 -1.9527664349 112 0 112 25.1521515504
    -3.9234142931 -1.9118456305 112 0 112 21.4836620339
    -4.3304397875 -1.8630743583 112 0 112 17.7462364921
    -4.7215844578 -1.8014546683 112 0 112 14.057466378
    -5.0911372336 -1.7215472556 112 0 112 10.5433586981
    -5.4319519725 -1.6175697235 112 0 112 7.335248699
    -5.7355311052 -1.4835734165 112 0 112 4.5651929048
    -5.9922468944 -1.3137161817 112 0 112 2.3597347
    -6.1917306885 -1.102640626 112 0 112 0.8321508527
    -6.3234481511 -0.8459535685 112 0 112 0.0735868188
    -6.3774553543 -0.5407821625 112 0 112 0.1438439515
    -6.3452972101 -0.1863572521 112 0 112 1.062930605
    -6.2209699322 0.2154507379 112 0 112 2.8047358592
    -6.0018312584 0.6597367259 112 0 112 5.2942175295
    -5.6893175447 1.1384038008 112 0 112 8.4092233485
    -5.2893274329 1.6403229685 112 0 112 11.9874596817
    -4.8121651492 2.1518469377 112 0 112 15.838263073
    Módulo Módulo
    ABAt ABA AB n ABt AB

    -105.8669491813 107.0451729724 21.5978224247 64.556340999 68.0733949254


    -93.9832698302 96.0376957304 19.0083081238 79.7305551879 81.9650975007
    -81.0888260297 84.438380564 16.1045800303 94.2560610769 95.6219773257
    -67.5938189532 72.7955908766 13.0353773881 107.6737832799 108.4599680502
    -53.9118760799 61.7168613171 9.9685780214 119.5765932199 119.9913921656
    -40.4299313889 51.8687650805 7.077317948 129.6366692114 129.8297132152
    -27.483338423 43.9645311648 4.5255743851 137.6231307957 137.6975197799

    -15.3387552242 38.6609232338 2.4551866749 143.4085798119 143.4295949422

    -4.1857301188 36.2683468676 0.975883527 146.9651198292 146.9683598434


    5.8635818832 36.4486249166 0.1592169802 148.3519456071 148.3520310459
    14.768217505 38.3527002281 0.0365706902 147.6974340103 147.6974385379
    22.5478875472 41.1020289373 0.600787831 145.1788024979 145.1800456011
    29.270328231 44.082512805 1.8105582629 141.0019875266 141.013611427
    35.0383642368 46.9584201791 3.5965413734 135.3836732884 135.4314369078
    39.9780046429 49.5889408708 5.868242883 128.5366039478 128.6704893477
    44.228344927 51.9512484755 8.5208412178 120.6586092444 120.9591035014
    47.9335729993 54.0892364725 11.4413982261 111.925253266 112.5085237305
    51.2370197901 56.0822072269 14.5141312218 102.4857003093 103.5083512235
    54.2769587868 58.0260219326 17.6246315551 92.4612565111 94.1260409933
    57.1837236461 60.0215589713 20.6630727882 81.9460472324 84.511048
    60.0776493376 62.1673172477 23.5265577201 71.0093805329 74.8052875258
    63.0673228587 64.5542262287 26.1208151091 59.6994846939 65.1638354817
    66.2476355996 67.2614269643 28.3614839553 48.048458666 55.7945172246
    69.6971546252 70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.4743833222 73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.612588927 77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.1130779726 82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9371536501 86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    91.9975361525 92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1507666771 97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.1929421271 102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.8617713383 106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8479614513 110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8178326798 113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.44655156 115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.4578194116 115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.662441749 113.9303127382 10.6473901826 -105.86833698 106.4024045434
    109.9866408362 110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    104.4825594313 105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    97.3180256338 99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    88.7485306416 91.4968882764 2.3642836277 -106.230675411 106.2569820546
    79.0789939609 83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    68.6244780889 74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    57.6774533715 66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    46.4858053863 58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    35.2422266661 51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    24.0831290804 46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    13.0941047737 43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    2.3189817149 41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    -8.229838837 42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    -18.5612565233 44.5309247349 3.5309729459 -67.6002451684 67.692399254
    -28.6963261172 48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    -38.6603378038 53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    -48.4760552865 59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    -58.1578968215 66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    -67.706815969 73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    -77.1056886872 81.10436459 11.3691727271 -58.5829930477 59.6760015661
    -86.3151144484 88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    -95.2696753239 96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    -103.8748580711 104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    -112.0050191396 112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    -119.5029433952 119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    -126.1816843135 126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    -131.829431677 131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    -136.218075148 136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    -139.1158593247 139.115878787 25.7334730567 -25.3786070541 36.1425695208
    -140.3040177951 140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    -139.5965386228 139.600585303 27.0409635378 -5.5907175629 27.6128562797
    -136.8613385082 136.8900745908 27.027601241 6.4635221369 27.7897165739
    -132.0402876843 132.1463821336 26.4906441808 19.792101778 33.0678321319
    -125.1649859826 125.4471552222 25.3992282382 34.1521140234 42.5615752453
    -116.3652035232 116.9810231645 23.75501084 49.2096890558 54.64333479
    -105.867633283 107.0458142764 21.5979677745 64.5554081316 68.072556372
    Longitud θ2
    eslabones θ2° w3
    (rad) w2
    a b c d valores valores

    7 22 30 40.00 0 0 4 -0.8484879984
    7 22 30 40.00 5 0.08726639 4 -0.9476798796
    7 22 30 40.00 10 0.17453278 4 -1.0345530594
    7 22 30 40.00 15 0.26179917 4 -1.1083069924
    7 22 30 40.00 20 0.34906556 4 -1.1685522257
    7 22 30 40.00 25 0.43633194 4 -1.215298573
    7 22 30 40.00 30 0.52359833 4 -1.2489157431
    7 22 30 40.00 35 0.61086472 4 -1.270072998
    7 22 30 40.00 40 0.69813111 4 -1.2796661427
    7 22 30 40.00 45 0.7853975 4 -1.2787403011
    7 22 30 40.00 50 0.87266389 4 -1.268415793
    7 22 30 40.00 55 0.95993028 4 -1.2498224878
    7 22 30 40.00 60 1.04719667 4 -1.2240458144
    7 22 30 40.00 65 1.13446306 4 -1.1920855903
    7 22 30 40.00 70 1.22172944 4 -1.1548272533
    7 22 30 40.00 75 1.30899583 4 -1.1130240447
    7 22 30 40.00 80 1.39626222 4 -1.0672881723
    7 22 30 40.00 85 1.48352861 4 -1.0180888689
    7 22 30 40.00 90 1.570795 4 -0.9657554536
    7 22 30 40.00 95 1.65806139 4 -0.9104838648
    7 22 30 40.00 100 1.74532778 4 -0.8523456019
    7 22 30 40.00 105 1.83259417 4 -0.7912985119
    7 22 30 40.00 110 1.91986056 4 -0.7271993686
    7 22 30 40.00 115 2.00712694 4 -0.659818682
    7 22 30 40.00 120 2.09439333 4 -0.5888586334
    7 22 30 40.00 125 2.18165972 4 -0.513975409
    7 22 30 40.00 130 2.26892611 4 -0.4348074344
    7 22 30 40.00 135 2.3561925 4 -0.3510109706
    7 22 30 40.00 140 2.44345889 4 -0.2623040437
    7 22 30 40.00 145 2.53072528 4 -0.168518555
    7 22 30 40.00 150 2.61799167 4 -0.0696584995
    7 22 30 40.00 155 2.70525806 4 0.0340404598
    7 22 30 40.00 160 2.79252444 4 0.1420578595
    7 22 30 40.00 165 2.87979083 4 0.2535520874
    7 22 30 40.00 170 2.96705722 4 0.3673519139
    7 22 30 40.00 175 3.05432361 4 0.481984679
    7 22 30 40.00 180 3.14159 4 0.595744015
    7 22 30 40.00 185 3.22885639 4 0.7067914718
    7 22 30 40.00 190 3.31612278 4 0.8132778611
    7 22 30 40.00 195 3.40338917 4 0.9134647305
    7 22 30 40.00 200 3.49065556 4 1.0058263987
    7 22 30 40.00 205 3.57792194 4 1.0891183926
    7 22 30 40.00 210 3.66518833 4 1.1624067145
    7 22 30 40.00 215 3.75245472 4 1.2250608976
    7 22 30 40.00 220 3.83972111 4 1.2767197345
    7 22 30 40.00 225 3.9269875 4 1.3172409134
    7 22 30 40.00 230 4.01425389 4 1.3466450751
    7 22 30 40.00 235 4.10152028 4 1.3650622961
    7 22 30 40.00 240 4.18878667 4 1.3726859938
    7 22 30 40.00 245 4.27605306 4 1.3697366036
    7 22 30 40.00 250 4.36331944 4 1.3564354939
    7 22 30 40.00 255 4.45058583 4 1.3329884749
    7 22 30 40.00 260 4.53785222 4 1.2995777734
    7 22 30 40.00 265 4.62511861 4 1.2563612733
    7 22 30 40.00 270 4.712385 4 1.2034779741
    7 22 30 40.00 275 4.79965139 4 1.1410588534
    7 22 30 40.00 280 4.88691778 4 1.0692425431
    7 22 30 40.00 285 4.97418417 4 0.9881953716
    7 22 30 40.00 290 5.06145056 4 0.8981353535
    7 22 30 40.00 295 5.14871694 4 0.799359584
    7 22 30 40.00 300 5.23598333 4 0.6922742066
    7 22 30 40.00 305 5.32324972 4 0.5774256622
    7 22 30 40.00 310 5.41051611 4 0.4555313034
    7 22 30 40.00 315 5.4977825 4 0.3275067452
    7 22 30 40.00 320 5.58504889 4 0.194486603
    7 22 30 40.00 325 5.67231528 4 0.0578347248
    7 22 30 40.00 330 5.75958167 4 -0.080860135
    7 22 30 40.00 335 5.84684806 4 -0.2198067958
    7 22 30 40.00 340 5.93411444 4 -0.3570546087
    7 22 30 40.00 345 6.02138083 4 -0.4905570827
    7 22 30 40.00 350 6.10864722 4 -0.618253528
    7 22 30 40.00 355 6.19591361 4 -0.7381629434
    7 22 30 40.00 360 6.28318 4 -0.8484816137
    w4 α2 α3 α4 AAn AAt

    -0.8484853647 0 -4.8121340537 2.1518780333 112 0


    -0.7959964012 0 -4.2719668105 2.6576851729 112 0
    -0.7326795577 0 -3.6858557286 3.1418687026 112 0
    -0.6591756819 0 -3.0724463161 3.5891261093 112 0
    -0.5764424811 0 -2.4505398218 3.9858864407 112 0
    -0.4857062881 0 -1.837724154 4.321222307 112 0
    -0.3883973217 0 -1.2492426556 4.5874376932 112 0

    -0.2860761364 0 -0.6972161466 4.7802859937 112 0

    -0.1803592274 0 -0.1902604599 4.8988373276 112 0


    -0.0728507562 0 0.2665264492 4.9450648536 112 0
    0.03491451 0 0.6712826139 4.9232478003 112 0
    0.1415141725 0 1.0249039794 4.8392934166 112 0
    0.2456663227 0 1.330469465 4.7000662509 112 0
    0.3462437183 0 1.5926529199 4.5127891096 112 0
    0.4422760406 0 1.8171820292 4.2845534649 112 0
    0.5329428117 0 2.0103793149 4.0219536415 112 0
    0.6175596658 0 2.1787987727 3.7308417755 112 0
    0.6955604748 0 2.328955445 3.4161900103 112 0
    0.7664774742 0 2.4671344903 3.0820418837 112 0
    0.8299211366 0 2.5992601657 2.7315349077 112 0
    0.8855611727 0 2.7308022426 2.3669793511 112 0
    0.9331097668 0 2.8666964936 1.9899828231 112 0
    0.9723079751 0 3.0112561636 1.6016152889 112 0
    1.0029161549 0 3.168052483 1.2026136564 112 0
    1.0247093065 0 3.3397446965 0.7936281048 112 0
    1.0374782697 0 3.5278449512 0.3755126886 112 0
    1.0410377386 0 3.7324126351 -0.0503410209 112 0
    1.0352419382 0 3.9516888023 -0.4816381154 112 0
    1.0200084017 0 4.1817061888 -0.9148100163 112 0
    0.9953494334 0 4.4159439399 -1.3446910546 112 0
    0.9614094264 0 4.6451337331 -1.7643203777 112 0
    0.9185042404 0 4.8573532426 -2.164968631 112 0
    0.8671566223 0 5.0385437023 -2.5364889532 112 0
    0.8081198079 0 5.1735378491 -2.8680541094 112 0
    0.7423809341 0 5.2475705255 -3.1492570454 112 0
    0.6711376541 0 5.2480827005 -3.37143271 112 0
    0.5957457562 0 5.166474625 -3.528944566 112 0
    0.5176419168 0 4.9993927653 -3.6201270216 112 0
    0.4382520784 0 4.7492072469 -3.6476286829 112 0
    0.3588999602 0 4.4235466197 -3.6180569646 112 0
    0.2807302161 0 4.0340241201 -3.5410225137 112 0
    0.2046567658 0 3.5944997255 -3.4278375049 112 0
    0.1313404856 0 3.1192944586 -3.2901754784 112 0
    0.0611941428 0 2.621702426 -3.1389481068 112 0
    -0.0055919278 0 2.1129911539 -2.9835397401 112 0
    -0.0690116358 0 1.6019193939 -2.8314210041 112 0
    -0.1292001256 0 1.0946876855 -2.6880780645 112 0
    -0.1863917567 0 0.5951865806 -2.5571563588 112 0
    -0.240882625 0 0.1054082598 -2.4407176693 112 0
    -0.2929991769 0 -0.3740835835 -2.3395305585 112 0
    -0.3430730217 0 -0.8436934783 -2.2533415056 112 0
    -0.3914211723 0 -1.3043784599 -2.1810984994 112 0
    -0.4383305401 0 -1.757288082 -2.1211167743 112 0
    -0.4840454167 0 -2.2034570585 -2.0711877556 112 0
    -0.5287567769 0 -2.6435407646 -2.0286386389 112 0
    -0.572592438 0 -3.077582544 -1.9903532438 112 0
    -0.6156073621 0 -3.5048040312 -1.9527664349 112 0
    -0.65777367 0 -3.9234142931 -1.9118456305 112 0
    -0.6989702458 0 -4.3304397875 -1.8630743583 112 0
    -0.7389721553 0 -4.7215844578 -1.8014546683 112 0
    -0.7774404929 0 -5.0911372336 -1.7215472556 112 0
    -0.8139136998 0 -5.4319519725 -1.6175697235 112 0
    -0.8478018475 0 -5.7355311052 -1.4835734165 112 0
    -0.8783857997 0 -5.9922468944 -1.3137161817 112 0
    -0.9048234676 0 -6.1917306885 -1.102640626 112 0
    -0.926165447 0 -6.3234481511 -0.8459535685 112 0
    -0.9413820167 0 -6.3774553543 -0.5407821625 112 0
    -0.9494026813 0 -6.3452972101 -0.1863572521 112 0
    -0.9491680786 0 -6.2209699322 0.2154507379 112 0
    -0.9396922223 0 -6.0018312584 0.6597367259 112 0
    -0.920130937 0 -5.6893175447 1.1384038008 112 0
    -0.8898503777 0 -5.2893274329 1.6403229685 112 0
    -0.8484882198 0 -4.8121651492 2.1518469377 112 0
    Modulo Módulo
    AA ABAn ABAt ABA ABn ABt

    112 15.8385014364 -105.8669491813 107.0451729724 21.5978224247 64.556340999


    112 19.7581373927 -93.9832698302 96.0376957304 19.0083081238 79.7305551879
    112 23.5466007186 -81.0888260297 84.438380564 16.1045800303 94.2560610769
    112 27.0235765655 -67.5938189532 72.7955908766 13.0353773881 107.6737832799
    112 30.0413146912 -53.9118760799 61.7168613171 9.9685780214 119.5765932199
    112 32.4929136715 -40.4299313889 51.8687650805 7.077317948 129.6366692114
    112 34.3153917313 -27.483338423 43.9645311648 4.5255743851 137.6231307957

    112 35.4878792471 -15.3387552242 38.6609232338 2.4551866749 143.4085798119

    112 36.0259996097 -4.1857301188 36.2683468676 0.975883527 146.9651198292


    112 35.9738886668 5.8635818832 36.4486249166 0.1592169802 148.3519456071
    112 35.3953297274 14.768217505 38.3527002281 0.0365706902 147.6974340103
    112 34.3652375217 22.5478875472 41.1020289373 0.600787831 145.1788024979
    112 32.9623394263 29.270328231 44.082512805 1.8105582629 141.0019875266
    112 31.2634972025 35.0383642368 46.9584201791 3.5965413734 135.3836732884
    112 29.3397716668 39.9780046429 49.5889408708 5.868242883 128.5366039478
    112 27.2540955304 44.228344927 51.9512484755 8.5208412178 120.6586092444
    112 25.060288939 47.9335729993 54.0892364725 11.4413982261 111.925253266
    112 22.8031087894 51.2370197901 56.0822072269 14.5141312218 102.4857003093
    112 20.5190391143 54.2769587868 58.0260219326 17.6246315551 92.4612565111
    112 18.2375790969 57.1837236461 60.0215589713 20.6630727882 81.9460472324
    112 15.9828465499 60.0776493376 62.1673172477 23.5265577201 71.0093805329
    112 13.7753733677 63.0673228587 64.5542262287 26.1208151091 59.6994846939
    112 11.6340162773 66.2476355996 67.2614269643 28.3614839553 48.048458666
    112 9.5779352497 69.6971546252 70.3521869347 30.1752244113 36.0784096932
    112 7.628598784 73.4743833222 73.8693476619 31.5008748818 23.8088431455
    112 5.811755863 77.612588927 77.8298815761 32.2908348049 11.2653806572
    112 4.1592651107 82.1130779726 82.2183499007 32.5127871987 -1.5102306279
    112 2.7105914333 86.9371536501 86.9793998065 32.1517761201 -14.4491434606
    112 1.5136750489 91.9975361525 92.0099878833 31.2125141869 -27.4443004886
    112 0.6247670741 97.1507666771 97.1527755643 29.7216148385 -40.3407316375
    112 0.1067507442 102.1929421271 102.192997883 27.7292425525 -52.9296113315
    112 0.0254925639 106.8617713383 106.861774379 25.3095011864 -64.9490589288
    112 0.4439695798 110.8479614513 110.8488505439 22.5588182301 -76.0946685958
    112 1.4143505429 113.8178326798 113.8266200121 19.5917287197 -86.0416232829
    112 2.9688434298 115.44655156 115.4847188956 16.5338835375 -94.4777113622
    112 5.1108030781 115.4578194116 115.5708802917 13.512772521 -101.1429812988
    112 7.8080404898 113.662441749 113.9303127382 10.6473901826 -105.86833698
    112 10.9901920627 109.9866408362 110.5343633628 8.0385946208 -108.6038106474
    112 14.5512593446 104.4825594313 105.4909682098 5.7619465262 -109.4288604858
    112 18.3571919054 97.3180256338 99.0342597686 3.8642754426 -108.5417089385
    112 22.2571083753 88.7485306416 91.4968882764 2.3642836277 -106.230675411
    112 26.0959352064 79.0789939609 83.2735559477 1.2565317537 -102.8351251478
    112 29.7261661377 68.6244780889 74.7861213476 0.5175096949 -98.7052643511
    112 33.0170324601 57.6774533715 66.4591081786 0.1123416934 -94.1684432028
    112 35.8602921686 46.4858053863 58.7102261691 0.0009380897 -89.5061922039
    112 38.1727197286 35.2422266661 51.9535472501 0.1428781762 -84.9426301228
    112 39.8959650817 24.0831290804 46.6013426427 0.5007801737 -80.6423419353
    112 40.9946915895 13.0941047737 43.0351056504 1.0422566092 -76.7146907637
    112 41.4538704248 2.3189817149 41.5186831365 1.7407331702 -73.2215300776
    112 41.2759239889 -8.229838837 42.0883849586 2.5754555297 -70.1859167548
    112 40.4781794801 -18.5612565233 44.5309247349 3.5309729459 -67.6002451684
    112 39.0908820343 -28.6963261172 48.4930530164 4.5963160231 -65.4329549813
    112 37.1558525612 -38.6603378038 53.6206965513 5.7640098709 -63.6335032296
    112 34.7257602801 -48.4760552865 59.6305824487 7.0289989625 -62.1356326669
    112 31.8639031505 -58.1578968215 66.3147742716 8.3875118742 -60.8591591661
    112 28.6443367526 -67.706815969 73.5167392956 9.8358630027 -59.7105973154
    112 25.1521515504 -77.1056886872 81.10436459 11.3691727271 -58.5829930477
    112 21.4836620339 -86.3151144484 88.9485621954 12.9799860273 -57.3553689137
    112 17.7462364921 -95.2696753239 96.9084100889 14.6567821337 -55.8922307497
    112 14.057466378 -103.8748580711 104.8217463137 16.3823953881 -54.0436400504
    112 10.5433586981 -112.0050191396 112.5001632225 18.1324115984 -51.6464176674
    112 7.335248699 -119.5029433952 119.7278553787 19.8736653194 -48.5270917058
    112 4.5651929048 -126.1816843135 126.2642405531 21.5630391804 -44.5072024961
    112 2.3597347 -131.829431677 131.8505495026 23.1468483928 -39.4114854506
    112 0.8321508527 -136.218075148 136.2206169127 24.5611652264 -33.0792187795
    112 0.0735868188 -139.1158593247 139.115878787 25.7334730567 -25.3786070541
    112 0.1438439515 -140.3040177951 140.3040915317 26.5860030432 -16.2234648757
    112 1.062930605 -139.5965386228 139.600585303 27.0409635378 -5.5907175629
    112 2.8047358592 -136.8613385082 136.8900745908 27.027601241 6.4635221369
    112 5.2942175295 -132.0402876843 132.1463821336 26.4906441808 19.792101778
    112 8.4092233485 -125.1649859826 125.4471552222 25.3992282382 34.1521140234
    112 11.9874596817 -116.3652035232 116.9810231645 23.75501084 49.2096890558
    112 15.838263073 -105.867633283 107.0458142764 21.5979677745 64.5554081316
    Módulo
    AB

    68.0733949254
    81.9650975007
    95.6219773257
    108.4599680502
    119.9913921656
    129.8297132152
    137.6975197799

    143.4295949422

    146.9683598434
    148.3520310459
    147.6974385379
    145.1800456011
    141.013611427
    135.4314369078
    128.6704893477
    120.9591035014
    112.5085237305
    103.5083512235
    94.1260409933
    84.511048
    74.8052875258
    65.1638354817
    55.7945172246
    47.0339857365
    39.4862777462
    34.1995148175
    32.5478436763
    35.2493184958
    41.5621302531
    50.1073748829
    59.7532814851
    69.7061769576
    79.3681224967
    88.2439616709
    95.9135404887
    102.0416468272
    106.4024045434
    108.9009030752
    109.5804523398
    108.6104746513
    106.2569820546
    102.8428015771
    98.7066209882
    94.1685102138
    89.5061922089
    84.9427502871
    80.6438968155
    76.7217705596
    73.2422188282
    70.2331537231
    67.692399254
    65.5941896708
    63.8940258793
    62.5319412247
    61.4344171442
    60.5152842906
    59.6760015661
    58.8057682587
    57.7820276616
    56.4720984961
    54.7369784356
    52.4389283134
    49.4555935433
    45.7060365372
    41.2005528159
    36.1425695208
    31.1450858144
    27.6128562797
    27.7897165739
    33.0678321319
    42.5615752453
    54.64333479
    68.072556372
    Longitud de los θ2
    eslabones θ2° Ax Ay
    (rad)

    a b c d valores valores

    7 22 30 40.00 0 0 7 0
    7 22 30 40.00 5 0.087 6.973 0.610
    7 22 30 40.00 10 0.175 6.894 1.216
    7 22 30 40.00 15 0.262 6.761 1.812
    7 22 30 40.00 20 0.349 6.578 2.394
    7 22 30 40.00 25 0.436 6.344 2.958
    7 22 30 40.00 30 0.524 6.062 3.500
    7 22 30 40.00 35 0.611 5.734 4.015

    7 22 30 40.00 40 0.698 5.362 4.500


    7 22 30 40.00 45 0.785 4.950 4.950
    7 22 30 40.00 50 0.873 4.500 5.362
    7 22 30 40.00 55 0.960 4.015 5.734
    7 22 30 40.00 60 1.047 3.500 6.062
    7 22 30 40.00 65 1.134 2.958 6.344
    7 22 30 40.00 70 1.222 2.394 6.578
    7 22 30 40.00 75 1.309 1.812 6.761
    7 22 30 40.00 80 1.396 1.216 6.894
    7 22 30 40.00 85 1.484 0.610 6.973
    7 22 30 40.00 90 1.571 0.000 7.000
    7 22 30 40.00 95 1.658 -0.610 6.973
    7 22 30 40.00 100 1.745 -1.216 6.894
    7 22 30 40.00 105 1.833 -1.812 6.761
    7 22 30 40.00 110 1.920 -2.394 6.578
    7 22 30 40.00 115 2.007 -2.958 6.344
    7 22 30 40.00 120 2.094 -3.500 6.062
    7 22 30 40.00 125 2.182 -4.015 5.734
    7 22 30 40.00 130 2.269 -4.500 5.362
    7 22 30 40.00 135 2.356 -4.950 4.950
    7 22 30 40.00 140 2.443 -5.362 4.500
    7 22 30 40.00 145 2.531 -5.734 4.015
    7 22 30 40.00 150 2.618 -6.062 3.500
    7 22 30 40.00 155 2.705 -6.344 2.958
    7 22 30 40.00 160 2.793 -6.578 2.394
    7 22 30 40.00 165 2.880 -6.761 1.812
    7 22 30 40.00 170 2.967 -6.894 1.216
    7 22 30 40.00 175 3.054 -6.973 0.610
    7 22 30 40.00 180 3.142 -7.000 0.000
    7 22 30 40.00 185 3.229 -6.973 -0.610
    7 22 30 40.00 190 3.316 -6.894 -1.216
    7 22 30 40.00 195 3.403 -6.761 -1.812
    7 22 30 40.00 200 3.491 -6.578 -2.394
    7 22 30 40.00 205 3.578 -6.344 -2.958
    7 22 30 40.00 210 3.665 -6.062 -3.500
    7 22 30 40.00 215 3.752 -5.734 -4.015
    7 22 30 40.00 220 3.840 -5.362 -4.499
    7 22 30 40.00 225 3.927 -4.950 -4.950
    7 22 30 40.00 230 4.014 -4.500 -5.362
    7 22 30 40.00 235 4.102 -4.015 -5.734
    7 22 30 40.00 240 4.189 -3.500 -6.062
    7 22 30 40.00 245 4.276 -2.958 -6.344
    7 22 30 40.00 250 4.363 -2.394 -6.578
    7 22 30 40.00 255 4.451 -1.812 -6.761
    7 22 30 40.00 260 4.538 -1.216 -6.894
    7 22 30 40.00 265 4.625 -0.610 -6.973
    7 22 30 40.00 270 4.712 0.000 -7.000
    7 22 30 40.00 275 4.800 0.610 -6.973
    7 22 30 40.00 280 4.887 1.216 -6.894
    7 22 30 40.00 285 4.974 1.812 -6.761
    7 22 30 40.00 290 5.061 2.394 -6.578
    7 22 30 40.00 295 5.149 2.958 -6.344
    7 22 30 40.00 300 5.236 3.500 -6.062
    7 22 30 40.00 305 5.323 4.015 -5.734
    7 22 30 40.00 310 5.411 4.499 -5.362
    7 22 30 40.00 315 5.498 4.950 -4.950
    7 22 30 40.00 320 5.585 5.362 -4.500
    7 22 30 40.00 325 5.672 5.734 -4.015
    7 22 30 40.00 330 5.760 6.062 -3.500
    7 22 30 40.00 335 5.847 6.344 -2.958
    7 22 30 40.00 340 5.934 6.578 -2.394
    7 22 30 40.00 345 6.021 6.761 -1.812
    7 22 30 40.00 350 6.109 6.894 -1.216
    7 22 30 40.00 355 6.196 6.973 -0.610
    7 22 30 40.00 360 6.283 7.000 0.000
    S P Q R By Bx

    17.197 1 0 -380.022 19.494 17.197


    17.183 1.000 -0.843 -379.389 19.900 17.551
    17.142 1.001 -1.679 -377.499 20.272 17.886
    17.074 1.003 -2.499 -374.379 20.606 18.197
    16.980 1.005 -3.298 -370.068 20.899 18.477
    16.862 1.008 -4.068 -364.626 21.147 18.721
    16.722 1.011 -4.801 -358.123 21.349 18.923
    16.562 1.014 -5.493 -350.643 21.504 19.081

    16.384 1.017 -6.136 -342.279 21.610 19.191


    16.191 1.020 -6.725 -333.133 21.667 19.251
    15.986 1.023 -7.255 -323.313 21.676 19.260
    15.770 1.025 -7.722 -312.930 21.636 19.218
    15.548 1.028 -8.122 -302.097 21.548 19.127
    15.321 1.029 -8.454 -290.926 21.412 18.988
    15.091 1.031 -8.714 -279.529 21.231 18.804
    14.861 1.031 -8.902 -268.010 21.004 18.579
    14.632 1.032 -9.018 -256.472 20.733 18.317
    14.407 1.031 -9.062 -245.011 20.420 18.022
    14.188 1.031 -9.034 -233.715 20.067 17.699
    13.974 1.029 -8.938 -222.666 19.675 17.353
    13.769 1.028 -8.775 -211.939 19.247 16.988
    13.573 1.026 -8.547 -201.600 18.787 16.611
    13.386 1.024 -8.259 -191.710 18.296 16.225
    13.210 1.022 -7.913 -182.322 17.779 15.836
    13.046 1.019 -7.513 -173.481 17.240 15.449
    12.893 1.017 -7.063 -165.228 16.683 15.067
    12.753 1.015 -6.567 -157.598 16.113 14.695
    12.625 1.012 -6.029 -150.621 15.536 14.336
    12.510 1.010 -5.453 -144.321 14.956 13.994
    12.409 1.008 -4.845 -138.720 14.380 13.671
    12.320 1.006 -4.206 -133.835 13.815 13.370
    12.245 1.004 -3.543 -129.679 13.265 13.092
    12.184 1.003 -2.860 -126.265 12.738 12.839
    12.136 1.002 -2.159 -123.601 12.239 12.610
    12.102 1.001 -1.446 -121.693 11.774 12.407
    12.081 1.000 -0.725 -120.547 11.347 12.229
    12.074 1.000 0.000 -120.165 10.962 12.074
    12.081 1.000 0.725 -120.547 10.622 11.943
    12.102 1.001 1.446 -121.693 10.329 11.834
    12.136 1.002 2.159 -123.601 10.083 11.745
    12.184 1.003 2.860 -126.265 9.886 11.676
    12.245 1.004 3.543 -129.679 9.736 11.624
    12.320 1.006 4.206 -133.834 9.632 11.588
    12.409 1.008 4.845 -138.720 9.573 11.568
    12.510 1.010 5.453 -144.321 9.556 11.563
    12.625 1.012 6.029 -150.621 9.579 11.570
    12.753 1.015 6.567 -157.598 9.641 11.591
    12.893 1.017 7.063 -165.228 9.739 11.625
    13.046 1.019 7.513 -173.480 9.871 11.670
    13.210 1.022 7.913 -182.321 10.036 11.728
    13.386 1.024 8.259 -191.710 10.232 11.799
    13.573 1.026 8.547 -201.600 10.457 11.882
    13.769 1.028 8.775 -211.938 10.712 11.977
    13.974 1.029 8.938 -222.666 10.993 12.087
    14.187 1.031 9.034 -233.714 11.301 12.210
    14.407 1.031 9.062 -245.010 11.634 12.348
    14.632 1.032 9.018 -256.472 11.991 12.501
    14.861 1.031 8.902 -268.009 12.372 12.670
    15.091 1.031 8.714 -279.528 12.775 12.856
    15.321 1.029 8.454 -290.926 13.200 13.060
    15.548 1.028 8.122 -302.096 13.643 13.282
    15.770 1.025 7.722 -312.930 14.105 13.523
    15.986 1.023 7.255 -323.313 14.583 13.783
    16.191 1.020 6.725 -333.133 15.074 14.062
    16.384 1.017 6.136 -342.279 15.576 14.360
    16.562 1.014 5.493 -350.643 16.085 14.677
    16.722 1.011 4.801 -358.123 16.598 15.010
    16.862 1.008 4.068 -364.626 17.110 15.358
    16.980 1.005 3.298 -370.068 17.617 15.718
    17.074 1.003 2.499 -374.378 18.114 16.086
    17.142 1.001 1.679 -377.499 18.596 16.459
    17.183 1.000 0.843 -379.389 19.058 16.831
    17.197 1.000 0.000 -380.022 19.494 17.197
    θ3(Rad) θ3° θ4 (Rad) θ4° w2 w3

    <2;10>

    1.089 62.387 2.434 139.544 4 -0.848


    1.069 61.263 2.416 138.514 4 -0.948
    1.048 60.023 2.400 137.557 4 -1.035
    1.024 58.682 2.384 136.686 4 -1.108
    0.999 57.258 2.371 135.912 4 -1.169
    0.973 55.766 2.359 135.247 4 -1.215
    0.946 54.225 2.350 134.700 4 -1.249
    0.919 52.649 2.342 134.278 4 -1.270

    0.891 51.055 2.337 133.986 4 -1.280


    0.863 49.455 2.335 133.828 4 -1.279
    0.835 47.862 2.334 133.804 4 -1.268
    0.808 46.287 2.336 133.914 4 -1.250
    0.781 44.740 2.340 134.157 4 -1.224
    0.754 43.229 2.347 134.527 4 -1.192
    0.729 41.762 2.355 135.021 4 -1.155
    0.704 40.344 2.366 135.631 4 -1.113
    0.680 38.981 2.379 136.352 4 -1.067
    0.658 37.678 2.393 137.173 4 -1.018
    0.636 36.437 2.409 138.088 4 -0.966
    0.615 35.264 2.426 139.087 4 -0.910
    0.596 34.162 2.445 140.161 4 -0.852
    0.578 33.135 2.465 141.299 4 -0.791
    0.562 32.185 2.486 142.491 4 -0.727
    0.547 31.318 2.507 143.727 4 -0.660
    0.533 30.537 2.529 144.996 4 -0.589
    0.521 29.848 2.552 146.287 4 -0.514
    0.511 29.254 2.575 147.587 4 -0.435
    0.502 28.762 2.597 148.887 4 -0.351
    0.495 28.379 2.620 150.173 4 -0.262
    0.491 28.109 2.642 151.434 4 -0.169
    0.488 27.959 2.663 152.659 4 -0.070
    0.488 27.937 2.684 153.835 4 0.034
    0.489 28.046 2.703 154.953 4 0.142
    0.494 28.293 2.721 156.001 4 0.254
    0.501 28.681 2.738 156.971 4 0.367
    0.510 29.212 2.754 157.856 4 0.482
    0.522 29.886 2.768 158.648 4 0.596
    0.536 30.700 2.780 159.345 4 0.707
    0.552 31.651 2.790 159.942 4 0.813
    0.571 32.731 2.799 160.441 4 0.913
    0.592 33.931 2.806 160.841 4 1.006
    0.615 35.241 2.811 161.144 4 1.089
    0.640 36.650 2.815 161.354 4 1.162
    0.666 38.143 2.817 161.474 4 1.225
    0.693 39.708 2.817 161.508 4 1.277
    0.721 41.330 2.817 161.461 4 1.317
    0.750 42.996 2.814 161.337 4 1.347
    0.780 44.692 2.811 161.139 4 1.365
    0.810 46.404 2.806 160.872 4 1.373
    0.840 48.120 2.800 160.538 4 1.370
    0.870 49.824 2.794 160.140 4 1.356
    0.899 51.506 2.786 159.680 4 1.333
    0.928 53.153 2.776 159.161 4 1.300
    0.956 54.751 2.766 158.584 4 1.256
    0.982 56.290 2.755 157.951 4 1.203
    1.008 57.756 2.743 157.262 4 1.141
    1.032 59.138 2.730 156.519 4 1.069
    1.055 60.425 2.716 155.723 4 0.988
    1.075 61.605 2.702 154.874 4 0.898
    1.094 62.667 2.686 153.975 4 0.799
    1.110 63.600 2.669 153.026 4 0.692
    1.124 64.394 2.652 152.031 4 0.577
    1.135 65.041 2.634 150.992 4 0.456
    1.144 65.531 2.615 149.912 4 0.328
    1.149 65.857 2.596 148.796 4 0.194
    1.152 66.015 2.576 147.651 4 0.058
    1.152 66.001 2.555 146.482 4 -0.081
    1.149 65.813 2.535 145.299 4 -0.220
    1.142 65.452 2.514 144.111 4 -0.357
    1.133 64.922 2.493 142.929 4 -0.491
    1.121 64.228 2.473 141.765 4 -0.618
    1.106 63.380 2.453 140.632 4 -0.738
    1.089 62.387 2.434 139.544 4 -0.848
    Módulo Módulo Módulo
    w4 VA VB/A VB
    α2 A

    -0.848 28.0 -18.667 -25.455 0 19.494


    -0.796 28.0 -20.849 -23.880 0 19.901
    -0.733 28.0 -22.760 -21.980 0 20.273
    -0.659 28.0 -24.383 -19.775 0 20.606
    -0.576 28.0 -25.708 -17.293 0 20.899
    -0.486 28.0 -26.737 -14.571 0 21.147
    -0.388 28.0 -27.476 -11.652 0 21.349
    -0.286 28.0 -27.942 -8.582 0 21.504

    -0.180 28.0 -28.153 -5.411 0 21.610


    -0.073 28.0 -28.132 -2.186 0 21.667
    0.035 28.0 -27.905 1.047 0 21.676
    0.142 28.0 -27.496 4.245 0 21.636
    0.246 28.0 -26.929 7.370 0 21.548
    0.346 28.0 -26.226 10.387 0 21.412
    0.442 28.0 -25.406 13.268 0 21.231
    0.533 28.0 -24.487 15.988 0 21.004
    0.618 28.0 -23.480 18.527 0 20.733
    0.696 28.0 -22.398 20.867 0 20.420
    0.766 28.0 -21.247 22.994 0 20.067
    0.830 28.0 -20.031 24.898 0 19.675
    0.886 28.0 -18.752 26.567 0 19.248
    0.933 28.0 -17.409 27.993 0 18.787
    0.972 28.0 -15.998 29.169 0 18.296
    1.003 28.0 -14.516 30.087 0 17.780
    1.025 28.0 -12.955 30.741 0 17.240
    1.037 28.0 -11.307 31.124 0 16.683
    1.041 28.0 -9.566 31.231 0 16.113
    1.035 28.0 -7.722 31.057 0 15.536
    1.020 28.0 -5.771 30.600 0 14.956
    0.995 28.0 -3.707 29.860 0 14.380
    0.961 28.0 -1.532 28.842 0 13.815
    0.919 28.0 0.749 27.555 0 13.265
    0.867 28.0 3.125 26.015 0 12.738
    0.808 28.0 5.578 24.244 0 12.239
    0.742 28.0 8.082 22.271 0 11.774
    0.671 28.0 10.604 20.134 0 11.347
    0.596 28.0 13.106 17.872 0 10.962
    0.518 28.0 15.549 15.529 0 10.622
    0.438 28.0 17.892 13.148 0 10.329
    0.359 28.0 20.096 10.767 0 10.084
    0.281 28.0 22.128 8.422 0 9.886
    0.205 28.0 23.961 6.140 0 9.736
    0.131 28.0 25.573 3.940 0 9.632
    0.061 28.0 26.951 1.836 0 9.573
    -0.006 28.0 28.088 -0.168 0 9.556
    -0.069 28.0 28.979 -2.070 0 9.579
    -0.129 28.0 29.626 -3.876 0 9.641
    -0.186 28.0 30.031 -5.592 0 9.739
    -0.241 28.0 30.199 -7.226 0 9.871
    -0.293 28.0 30.134 -8.790 0 10.036
    -0.343 28.0 29.842 -10.292 0 10.232
    -0.391 28.0 29.326 -11.743 0 10.458
    -0.438 28.0 28.591 -13.150 0 10.712
    -0.484 28.0 27.640 -14.521 0 10.993
    -0.529 28.0 26.477 -15.863 0 11.301
    -0.573 28.0 25.103 -17.178 0 11.634
    -0.616 28.0 23.523 -18.468 0 11.991
    -0.658 28.0 21.740 -19.733 0 12.372
    -0.699 28.0 19.759 -20.969 0 12.775
    -0.739 28.0 17.586 -22.169 0 13.200
    -0.777 28.0 15.230 -23.323 0 13.644
    -0.814 28.0 12.703 -24.417 0 14.105
    -0.848 28.0 10.022 -25.434 0 14.583
    -0.878 28.0 7.205 -26.352 0 15.074
    -0.905 28.0 4.279 -27.145 0 15.576
    -0.926 28.0 1.272 -27.785 0 16.085
    -0.941 28.0 -1.779 -28.241 0 16.598
    -0.949 28.0 -4.836 -28.482 0 17.110
    -0.949 28.0 -7.855 -28.475 0 17.617
    -0.940 28.0 -10.792 -28.191 0 18.114
    -0.920 28.0 -13.602 -27.604 0 18.596
    -0.890 28.0 -16.240 -26.696 0 19.058
    -0.848 28.0 -18.667 -25.455 0 19.494
    B C D E F α3

    19.494 135.758 -22.803 10.197 0.000 -4.812


    19.290 135.297 -22.449 10.577 -14.477 -4.272
    19.057 133.935 -22.114 10.992 -28.963 -3.686
    18.795 131.704 -21.803 11.435 -43.120 -3.072
    18.504 128.646 -21.523 11.899 -56.630 -2.451
    18.189 124.806 -21.279 12.376 -69.208 -1.838
    17.849 120.235 -21.076 12.861 -80.620 -1.249
    17.489 114.987 -20.919 13.347 -90.691 -0.697

    17.110 109.119 -20.809 13.829 -99.308 -0.190


    16.718 102.691 -20.749 14.301 -106.417 0.267
    16.314 95.765 -20.740 14.760 -112.017 0.671
    15.902 88.405 -20.782 15.203 -116.151 1.025
    15.486 80.673 -20.873 15.627 -118.896 1.330
    15.068 72.631 -21.012 16.030 -120.352 1.593
    14.653 64.337 -21.196 16.410 -120.634 1.817
    14.242 55.844 -21.420 16.768 -119.862 2.010
    13.839 47.199 -21.683 17.102 -118.156 2.179
    13.447 38.442 -21.978 17.412 -115.632 2.329
    13.067 29.609 -22.301 17.699 -112.398 2.467
    12.702 20.728 -22.647 17.963 -108.552 2.599
    12.354 11.823 -23.012 18.204 -104.179 2.731
    12.025 2.913 -23.389 18.423 -99.356 2.867
    11.718 -5.984 -23.775 18.619 -94.145 3.011
    11.435 -14.846 -24.164 18.795 -88.602 3.168
    11.178 -23.650 -24.551 18.949 -82.768 3.340
    10.949 -32.362 -24.933 19.082 -76.680 3.528
    10.751 -40.938 -25.305 19.194 -70.367 3.732
    10.586 -49.315 -25.664 19.286 -63.850 3.952
    10.456 -57.408 -26.006 19.356 -57.151 4.182
    10.365 -65.109 -26.329 19.405 -50.288 4.416
    10.315 -72.286 -26.630 19.432 -43.281 4.645
    10.307 -78.783 -26.908 19.436 -36.154 4.857
    10.344 -84.429 -27.161 19.417 -28.937 5.039
    10.428 -89.051 -27.390 19.372 -21.665 5.174
    10.559 -92.487 -27.593 19.301 -14.385 5.248
    10.737 -94.604 -27.771 19.202 -7.145 5.248
    10.962 -95.319 -27.925 19.074 0.000 5.166
    11.232 -94.606 -28.057 18.917 6.996 4.999
    11.544 -92.502 -28.166 18.728 13.796 4.749
    11.895 -89.102 -28.255 18.507 20.361 4.424
    12.280 -84.547 -28.324 18.254 26.661 4.034
    12.695 -79.005 -28.376 17.968 32.683 3.594
    13.132 -72.656 -28.412 17.651 38.422 3.119
    13.588 -65.672 -28.432 17.302 43.884 2.622
    14.055 -58.209 -28.437 16.925 49.082 2.113
    14.529 -50.396 -28.430 16.520 54.032 1.602
    15.003 -42.338 -28.409 16.091 58.751 1.095
    15.473 -34.112 -28.375 15.640 63.252 0.595
    15.933 -25.771 -28.330 15.170 67.545 0.105
    16.380 -17.352 -28.272 14.687 71.636 -0.374
    16.810 -8.874 -28.201 14.193 75.521 -0.844
    17.219 -0.349 -28.118 13.693 79.190 -1.304
    17.605 8.217 -28.023 13.193 82.623 -1.757
    17.966 16.819 -27.913 12.697 85.791 -2.203
    18.301 25.454 -27.790 12.210 88.653 -2.644
    18.607 34.110 -27.652 11.738 91.161 -3.078
    18.885 42.772 -27.499 11.285 93.252 -3.505
    19.134 51.415 -27.330 10.858 94.852 -3.923
    19.353 60.006 -27.144 10.462 95.876 -4.330
    19.544 68.499 -26.940 10.102 96.227 -4.722
    19.706 76.836 -26.718 9.782 95.798 -5.091
    19.839 84.950 -26.477 9.508 94.475 -5.432
    19.945 92.762 -26.217 9.283 92.140 -5.736
    20.024 100.186 -25.938 9.113 88.679 -5.992
    20.076 107.128 -25.639 8.998 83.986 -6.192
    20.100 113.496 -25.323 8.943 77.972 -6.323
    20.098 119.199 -24.990 8.948 70.578 -6.377
    20.069 124.153 -24.642 9.014 61.787 -6.345
    20.012 128.287 -24.282 9.140 51.627 -6.221
    19.926 131.544 -23.914 9.325 40.189 -6.002
    19.812 133.885 -23.541 9.565 27.621 -5.689
    19.668 135.291 -23.169 9.858 14.136 -5.289
    19.494 135.758 -22.803 10.197 0.001 -4.812
    Modulo
    α4 AA n
    AA t
    AA
    ABAn ABAt

    2.152 112 0 112 15.8385014364 -105.8669491813


    2.658 112 0 112 19.7581373927 -93.9832698302
    3.142 112 0 112 23.5466007186 -81.0888260297
    3.589 112 0 112 27.0235765655 -67.5938189532
    3.986 112 0 112 30.0413146912 -53.9118760799
    4.321 112 0 112 32.4929136715 -40.4299313889
    4.587 112 0 112 34.3153917313 -27.483338423
    4.780 112 0 112 35.4878792471 -15.3387552242

    4.899 112 0 112 36.0259996097 -4.1857301188


    4.945 112 0 112 35.9738886668 5.8635818832
    4.923 112 0 112 35.3953297274 14.768217505
    4.839 112 0 112 34.3652375217 22.5478875472
    4.700 112 0 112 32.9623394263 29.270328231
    4.513 112 0 112 31.2634972025 35.0383642368
    4.285 112 0 112 29.3397716668 39.9780046429
    4.022 112 0 112 27.2540955304 44.228344927
    3.731 112 0 112 25.060288939 47.9335729993
    3.416 112 0 112 22.8031087894 51.2370197901
    3.082 112 0 112 20.5190391143 54.2769587868
    2.732 112 0 112 18.2375790969 57.1837236461
    2.367 112 0 112 15.9828465499 60.0776493376
    1.990 112 0 112 13.7753733677 63.0673228587
    1.602 112 0 112 11.6340162773 66.2476355996
    1.203 112 0 112 9.5779352497 69.6971546252
    0.794 112 0 112 7.628598784 73.4743833222
    0.376 112 0 112 5.811755863 77.612588927
    -0.050 112 0 112 4.1592651107 82.1130779726
    -0.482 112 0 112 2.7105914333 86.9371536501
    -0.915 112 0 112 1.5136750489 91.9975361525
    -1.345 112 0 112 0.6247670741 97.1507666771
    -1.764 112 0 112 0.1067507442 102.1929421271
    -2.165 112 0 112 0.0254925639 106.8617713383
    -2.536 112 0 112 0.4439695798 110.8479614513
    -2.868 112 0 112 1.4143505429 113.8178326798
    -3.149 112 0 112 2.9688434298 115.44655156
    -3.371 112 0 112 5.1108030781 115.4578194116
    -3.529 112 0 112 7.8080404898 113.662441749
    -3.620 112 0 112 10.9901920627 109.9866408362
    -3.648 112 0 112 14.5512593446 104.4825594313
    -3.618 112 0 112 18.3571919054 97.3180256338
    -3.541 112 0 112 22.2571083753 88.7485306416
    -3.428 112 0 112 26.0959352064 79.0789939609
    -3.290 112 0 112 29.7261661377 68.6244780889
    -3.139 112 0 112 33.0170324601 57.6774533715
    -2.984 112 0 112 35.8602921686 46.4858053863
    -2.831 112 0 112 38.1727197286 35.2422266661
    -2.688 112 0 112 39.8959650817 24.0831290804
    -2.557 112 0 112 40.9946915895 13.0941047737
    -2.441 112 0 112 41.4538704248 2.3189817149
    -2.340 112 0 112 41.2759239889 -8.229838837
    -2.253 112 0 112 40.4781794801 -18.5612565233
    -2.181 112 0 112 39.0908820343 -28.6963261172
    -2.121 112 0 112 37.1558525612 -38.6603378038
    -2.071 112 0 112 34.7257602801 -48.4760552865
    -2.029 112 0 112 31.8639031505 -58.1578968215
    -1.990 112 0 112 28.6443367526 -67.706815969
    -1.953 112 0 112 25.1521515504 -77.1056886872
    -1.912 112 0 112 21.4836620339 -86.3151144484
    -1.863 112 0 112 17.7462364921 -95.2696753239
    -1.801 112 0 112 14.057466378 -103.8748580711
    -1.722 112 0 112 10.5433586981 -112.0050191396
    -1.618 112 0 112 7.335248699 -119.5029433952
    -1.484 112 0 112 4.5651929048 -126.1816843135
    -1.314 112 0 112 2.3597347 -131.829431677
    -1.103 112 0 112 0.8321508527 -136.218075148
    -0.846 112 0 112 0.0735868188 -139.1158593247
    -0.541 112 0 112 0.1438439515 -140.3040177951
    -0.186 112 0 112 1.062930605 -139.5965386228
    0.215 112 0 112 2.8047358592 -136.8613385082
    0.660 112 0 112 5.2942175295 -132.0402876843
    1.138 112 0 112 8.4092233485 -125.1649859826
    1.640 112 0 112 11.9874596817 -116.3652035232
    2.152 112 0 112 15.838263073 -105.867633283
    Módulo Módulo
    ABn ABt
    ABA AB

    107.0451729724 21.5978224247 64.556340999 68.0733949254


    96.0376957304 19.0083081238 79.7305551879 81.9650975007
    84.438380564 16.1045800303 94.2560610769 95.6219773257
    72.7955908766 13.0353773881 107.6737832799 108.4599680502
    61.7168613171 9.9685780214 119.5765932199 119.9913921656
    51.8687650805 7.077317948 129.6366692114 129.8297132152
    43.9645311648 4.5255743851 137.6231307957 137.6975197799
    38.6609232338 2.4551866749 143.4085798119 143.4295949422

    36.2683468676 0.975883527 146.9651198292 146.9683598434


    36.4486249166 0.1592169802 148.3519456071 148.3520310459
    38.3527002281 0.0365706902 147.6974340103 147.6974385379
    41.1020289373 0.600787831 145.1788024979 145.1800456011
    44.082512805 1.8105582629 141.0019875266 141.013611427
    46.9584201791 3.5965413734 135.3836732884 135.4314369078
    49.5889408708 5.868242883 128.5366039478 128.6704893477
    51.9512484755 8.5208412178 120.6586092444 120.9591035014
    54.0892364725 11.4413982261 111.925253266 112.5085237305
    56.0822072269 14.5141312218 102.4857003093 103.5083512235
    58.0260219326 17.6246315551 92.4612565111 94.1260409933
    60.0215589713 20.6630727882 81.9460472324 84.511048
    62.1673172477 23.5265577201 71.0093805329 74.8052875258
    64.5542262287 26.1208151091 59.6994846939 65.1638354817
    67.2614269643 28.3614839553 48.048458666 55.7945172246
    70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.9303127382 10.6473901826 -105.86833698 106.4024045434
    110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    91.4968882764 2.3642836277 -106.230675411 106.2569820546
    83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    44.5309247349 3.5309729459 -67.6002451684 67.692399254
    48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    81.10436459 11.3691727271 -58.5829930477 59.6760015661
    88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    139.115878787 25.7334730567 -25.3786070541 36.1425695208
    140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    139.600585303 27.0409635378 -5.5907175629 27.6128562797
    136.8900745908 27.027601241 6.4635221369 27.7897165739
    132.1463821336 26.4906441808 19.792101778 33.0678321319
    125.4471552222 25.3992282382 34.1521140234 42.5615752453
    116.9810231645 23.75501084 49.2096890558 54.64333479
    107.0458142764 21.5979677745 64.5554081316 68.072556372
    longitud θ2
    eslabones θ ° θ3(Rad) θ3°
    2 (rad)

    a b c d valores valores

    7 22 30 40.00 0 0 1.0888568381 62.38695401


    7 22 30 40.00 5 0.08726639 1.0692423328 61.26312469
    7 22 30 40.00 10 0.17453278 1.0475963462 60.02289997
    7 22 30 40.00 15 0.26179917 1.0241971026 58.68222093
    7 22 30 40.00 20 0.34906556 0.9993358134 57.25777279
    7 22 30 40.00 25 0.43633194 0.9733077832 55.76647525
    7 22 30 40.00 30 0.52359833 0.9464040833 54.22500549
    7 22 30 40.00 35 0.61086472 0.9189043278 52.64938423
    7 22 30 40.00 40 0.69813111 0.8910709194 51.05464605
    7 22 30 40.00 45 0.7853975 0.863144949 49.45460446
    7 22 30 40.00 50 0.87266389 0.8353437577 47.86171219
    7 22 30 40.00 55 0.95993028 0.8078600317 46.28700935
    7 22 30 40.00 60 1.04719667 0.7808622055 44.74014655
    7 22 30 40.00 65 1.13446306 0.754495904 43.22946747
    7 22 30 40.00 70 1.22172944 0.7288861452 41.76213514
    7 22 30 40.00 75 1.30899583 0.7041400489 40.34428706
    7 22 30 40.00 80 1.39626222 0.6803498306 38.98120681
    7 22 30 40.00 85 1.48352861 0.6575959111 37.67750216
    7 22 30 40.00 90 1.570795 0.6359500093 36.43728229
    7 22 30 40.00 95 1.65806139 0.615478129 35.26432896
    7 22 30 40.00 100 1.74532778 0.5962433745 34.16225778
    7 22 30 40.00 105 1.83259417 0.5783085514 33.13466724
    7 22 30 40.00 110 1.91986056 0.561738512 32.18527311
    7 22 30 40.00 115 2.00712694 0.5466022038 31.3180258
    7 22 30 40.00 120 2.09439333 0.5329743626 30.53720736
    7 22 30 40.00 125 2.18165972 0.5209367687 29.84750345
    7 22 30 40.00 130 2.26892611 0.5105789547 29.25404392
    7 22 30 40.00 135 2.3561925 0.5019982191 28.76240357
    7 22 30 40.00 140 2.44345889 0.4952987735 28.37855329
    7 22 30 40.00 145 2.53072528 0.4905898407 28.10875109
    7 22 30 40.00 150 2.61799167 0.4879825427 27.95936379
    7 22 30 40.00 155 2.70525806 0.4875854927 27.93661448
    7 22 30 40.00 160 2.79252444 0.4894991414 28.04625857
    7 22 30 40.00 165 2.87979083 0.4938091254 28.29320267
    7 22 30 40.00 170 2.96705722 0.5005791092 28.68109449
    7 22 30 40.00 175 3.05432361 0.509843829 29.21192429
    7 22 30 40.00 180 3.14159 0.521603186 29.88568638
    7 22 30 40.00 185 3.22885639 0.5358182044 30.70014763
    7 22 30 40.00 190 3.31612278 0.5524094548 31.65075706
    7 22 30 40.00 195 3.40338917 0.5712581634 32.73070942
    7 22 30 40.00 200 3.49065556 0.5922097917 33.93115031
    7 22 30 40.00 205 3.57792194 0.615079494 35.24148884
    7 22 30 40.00 210 3.66518833 0.6396586432 36.64977154
    7 22 30 40.00 215 3.75245472 0.6657215875 38.14306951
    7 22 30 40.00 220 3.83972111 0.6930319383 39.70783867
    7 22 30 40.00 225 3.9269875 0.7213479141 41.33022595
    7 22 30 40.00 230 4.01425389 0.7504265081 42.99630807
    7 22 30 40.00 235 4.10152028 0.7800264492 44.6922612
    7 22 30 40.00 240 4.18878667 0.8099100705 46.40446802
    7 22 30 40.00 245 4.27605306 0.8398442762 48.11957312
    7 22 30 40.00 250 4.36331944 0.8696008283 49.82449941
    7 22 30 40.00 255 4.45058583 0.8989561704 51.50643804
    7 22 30 40.00 260 4.53785222 0.9276909867 53.15282313
    7 22 30 40.00 265 4.62511861 0.955589667 54.75130111
    7 22 30 40.00 270 4.712385 0.9824398243 56.28970311
    7 22 30 40.00 275 4.79965139 1.0080319925 57.75602757
    7 22 30 40.00 280 4.88691778 1.0321596139 59.13843961
    7 22 30 40.00 285 4.97418417 1.0546194172 60.42529264
    7 22 30 40.00 290 5.06145056 1.0752122767 61.60517757
    7 22 30 40.00 295 5.14871694 1.0937446332 62.66700428
    7 22 30 40.00 300 5.23598333 1.1100305424 63.60011893
    7 22 30 40.00 305 5.32324972 1.1238943942 64.3944598
    7 22 30 40.00 310 5.41051611 1.1351743104 65.04075193
    7 22 30 40.00 315 5.4977825 1.1437261808 65.53073843
    7 22 30 40.00 320 5.58504889 1.1494282303 65.85744208
    7 22 30 40.00 325 5.67231528 1.1521859307 66.0154468
    7 22 30 40.00 330 5.75958167 1.1519369851 66.00118326
    7 22 30 40.00 335 5.84684806 1.1486560248 65.81319792
    7 22 30 40.00 340 5.93411444 1.1423585953 65.45238149
    7 22 30 40.00 345 6.02138083 1.1331039773 64.92213049
    7 22 30 40.00 350 6.10864722 1.120996416 64.22841773
    7 22 30 40.00 355 6.19591361 1.1061844214 63.37975225
    7 22 30 40.00 360 6.28318 1.0888579638 62.38701851
    θ4 (Rad) θ4° w2 w3 w4 α2

    2.4342622209 139.5436941915 4 -0.8484879984 -0.8484853647 0


    2.4163036609 138.5142225978 4 -0.9476798796 -0.7959964012 0
    2.3996092023 137.5572154199 4 -1.0345530594 -0.7326795577 0
    2.3844086897 136.6858484513 4 -1.1083069924 -0.6591756819 0
    2.370914461 135.9122939414 4 -1.1685522257 -0.5764424811 0
    2.3593149253 135.2473524041 4 -1.215298573 -0.4857062881 0
    2.3497693847 134.7001558118 4 -1.2489157431 -0.3883973217 0

    2.3424043803 134.2779581052 4 -1.270072998 -0.2860761364 0

    2.3373116651 133.9860190165 4 -1.2796661427 -0.1803592274 0


    2.3345477451 133.8275777448 4 -1.2787403011 -0.0728507562 0
    2.3341347946 133.8039054225 4 -1.268415793 0.03491451 0
    2.3360626656 133.9144203194 4 -1.2498224878 0.1415141725 0
    2.3402916728 134.1568474851 4 -1.2240458144 0.2456663227 0
    2.3467558372 134.5274046787 4 -1.1920855903 0.3462437183 0
    2.3553663041 135.0209983234 4 -1.1548272533 0.4422760406 0
    2.3660147042 135.6314161625 4 -1.1130240447 0.5329428117 0
    2.3785762823 136.3515066264 4 -1.0672881723 0.6175596658 0
    2.3929126774 137.1733381936 4 -1.0180888689 0.6955604748 0
    2.4088742874 138.0883349449 4 -0.9657554536 0.7664774742 0
    2.4263021944 139.0873869419 4 -0.9104838648 0.8299211366 0
    2.4450296616 140.1609360128 4 -0.8523456019 0.8855611727 0
    2.4648832371 141.2990390707 4 -0.7912985119 0.9331097668 0
    2.4856835266 142.4914123512 4 -0.7271993686 0.9723079751 0
    2.5072457098 143.7274610704 4 -0.659818682 1.0029161549 0
    2.5293799016 144.9963000903 4 -0.5888586334 1.0247093065 0
    2.5518914727 146.2867723191 4 -0.513975409 1.0374782697 0
    2.5745814695 147.5874727729 4 -0.4348074344 1.0410377386 0
    2.5972472909 148.886787378 4 -0.3510109706 1.0352419382 0
    2.6196837956 150.172956434 4 -0.2623040437 1.0200084017 0
    2.6416850131 151.4341727255 4 -0.168518555 0.9953494334 0
    2.6630466111 152.6587229266 4 -0.0696584995 0.9614094264 0
    2.6835692071 153.8351774775 4 0.0340404598 0.9185042404 0
    2.7030625102 154.9526279718 4 0.1420578595 0.8671566223 0
    2.7213501207 156.0009623334 4 0.2535520874 0.8081198079 0
    2.7382746402 156.9711577172 4 0.3673519139 0.7423809341 0
    2.7537025716 157.8555614289 4 0.481984679 0.6711376541 0
    2.7675283921 158.6481243881 4 0.595744015 0.5957457562 0
    2.7796771979 159.3445527486 4 0.7067914718 0.5176419168 0
    2.7901054834 159.9423525522 4 0.8132778611 0.4382520784 0
    2.7987998945 160.4407582838 4 0.9134647305 0.3588999602 0
    2.8057741225 160.840554793 4 1.0058263987 0.2807302161 0
    2.8110643818 161.1438180673 4 1.0891183926 0.2046567658 0
    2.8147240796 161.3536096589 4 1.1624067145 0.1313404856 0
    2.8168183041 161.4736607449 4 1.2250608976 0.0611941428 0
    2.8174186617 161.5080761472 4 1.2767197345 -0.0055919278 0
    2.8165988252 161.4610791532 4 1.3172409134 -0.0690116358 0
    2.814430981 161.3368078303 4 1.3466450751 -0.1292001256 0
    2.8109832116 161.1391649989 4 1.3650622961 -0.1863917567 0
    2.8063177504 160.8717181734 4 1.3726859938 -0.240882625 0
    2.8004899883 160.537642641 4 1.3697366036 -0.2929991769 0
    2.7935480978 160.1396998723 4 1.3564354939 -0.3430730217 0
    2.7855331441 159.6802439286 4 1.3329884749 -0.3914211723 0
    2.7764795797 159.1612497894 4 1.2995777734 -0.4383305401 0
    2.7664160416 158.5843590738 4 1.2563612733 -0.4840454167 0
    2.7553664007 157.9509401664 4 1.2034779741 -0.5287567769 0
    2.7433510325 157.2621610977 4 1.1410588534 -0.572592438 0
    2.730388301 156.5190745819 4 1.0692425431 -0.6156073621 0
    2.7164962564 155.7227153339 4 0.9881953716 -0.65777367 0
    2.7016945546 154.874210136 4 0.8981353535 -0.6989702458 0
    2.6860066074 153.9749010638 4 0.799359584 -0.7389721553 0
    2.6694619597 153.0264817647 4 0.6922742066 -0.7774404929 0
    2.652098874 152.0311456449 4 0.5774256622 -0.8139136998 0
    2.6339670765 150.9917432399 4 0.4555313034 -0.8478018475 0
    2.6151305769 149.9119439008 4 0.3275067452 -0.8783857997 0
    2.5956704345 148.7963943349 4 0.194486603 -0.9048234676 0
    2.5756872887 147.6508636861 4 0.0578347248 -0.926165447 0
    2.5553034283 146.482362131 4 -0.080860135 -0.9413820167 0
    2.534664135 145.299217928 4 -0.2198067958 -0.9494026813 0
    2.5139380285 144.111097175 4 -0.3570546087 -0.9491680786 0
    2.4933161603 142.928951866 4 -0.4905570827 -0.9396922223 0
    2.4730096726 141.7648856926 4 -0.618253528 -0.920130937 0
    2.4532459508 140.6319334833 4 -0.7381629434 -0.8898503777 0
    2.4342633467 139.5437587259 4 -0.8484816137 -0.8484882198 0
    A B C D E F

    19.4942085804 19.4941480706 135.7576129992 -22.8029785735 10.196969697 -4.35628133E-05


    19.9005517755 19.2904025192 135.2973607093 -22.449232482 10.5773517786 -14.4768965702
    20.2725390214 19.0569441128 133.934802501 -22.113890694 10.9924010608 -28.9625366418
    20.6063265561 18.7945368788 131.7039102553 -21.8031948545 11.4352692802 -43.1201649458
    20.8986588063 18.5044626288 128.6456033173 -21.5231517231 11.8989437691 -56.6300030699
    21.1469058412 18.1885238806 124.8059709079 -21.2792944747 12.3764938106 -69.2079803443
    21.3490617074 17.8490084601 120.2352331189 -21.0764694438 12.8612945302 -80.6201126326

    21.5037095759 17.4886219705 114.9872313179 -20.9186633051 13.3472132512 -90.6913006149

    21.6099630535 17.1103977295 109.1191257973 -20.8088802396 13.8287486614 -99.3082551833


    21.6673945178 16.7175952736 102.6909897905 -20.7490726253 14.3011191265 -106.4171362843
    21.6759610103 16.3135981892 95.7650925301 -20.7401232948 14.7603019658 -112.0171004748
    21.6359364719 15.9018202707 88.4048060549 -20.7818731828 15.2030297007 -116.1512277173
    21.5478565683 15.4856264487 80.6732002986 -20.8731856052 15.6267518535 -118.8962713906
    21.4124796136 15.0682721817 72.6314771227 -21.0120374261 16.0295718426 -120.3524380665
    21.230764639 14.6528625195 64.3374277498 -21.1956276823 16.4101681888 -120.6340627565
    21.0038657306 14.2423301084 55.8440884148 -21.4204954278 16.767708045 -119.8616929995
    20.7331404685 13.8394300941 47.1987332941 -21.6826402062 17.1017594028 -118.1557922828
    20.4201695918 13.44674915 38.4422997179 -21.9776403156 17.4122065603 -115.6320485745
    20.0667847653 13.0667255882 29.609301744 -22.3007656636 17.6991717999 -112.3981310113
    19.6751013836 12.7016775464 20.7282617585 -22.6470833783 17.9629448451 -108.5516658016
    19.2475535594 12.3538364331 11.8226775978 -23.0115554011 18.2039206048 -104.179183683
    18.7869286916 12.025383038 2.9125420068 -23.3891280371 18.4225449596 -99.3558080804
    18.2963991837 11.7184838671 -5.9835641093 -23.7748139196 18.6192678657 -94.1454905863
    17.7795489254 11.4353252799 -14.8457823036 -24.1637670906 18.7945028065 -88.6016475763
    17.240392019 11.1781428515 -23.6496836598 -24.5513519593 18.9485915675 -82.7681011199
    16.6833809142 10.9492430429 -32.3624105669 -24.9332067988 19.0817734183 -76.6802735341
    16.1134006558 10.7510137808 -40.9383847156 -25.3053021975 19.1941580353 -70.3666232239
    15.5357454362 10.5859200152 -49.3148687385 -25.6639945009 19.2857018911 -63.8503342632
    14.9560732556 10.456479911 -57.407892375 -26.006073767 19.3561883611 -57.1512758939
    14.3803345039 10.3652173264 -65.1093258071 -26.3288051297 19.4052124383 -50.2882215333
    13.8146710503 10.3145869798 -72.2861415678 -26.6299617681 19.4321716603 -43.2812518804
    13.2652843561 10.3068706248 -78.7830359627 -26.9078470144 19.4362655344 -36.1541627054
    12.7382745071 10.3440459134 -84.4294199637 -27.1613026672 19.416506229 -28.9365710117
    12.2394568548 10.427634411 -89.0511858311 -27.3897005442 19.3717433545 -21.6653042452
    11.7741685752 10.5585408345 -92.4865710142 -27.5929149305 19.3007050505 -14.3846291951
    11.3470826413 10.736900758 -94.6040687046 -27.7712750073 19.2020561949 -7.1449939742
    10.9620497111 10.9619570332 -95.3191386119 -27.9254984939 19.0744724174 -0.0002415663
    10.6219876436 11.2319843736 -94.606045909 -28.056610246 18.9167261182 6.9963491875
    10.3288330451 11.5442762389 -92.5019080495 -28.1658518055 18.727778462 13.7964677333
    10.0835602458 11.895199148 -89.1018633571 -28.2545892338 18.5068700009 20.3607111256
    9.8862626655 12.2803091135 -84.546541841 -28.324226565 18.2536026054 26.6612507616
    9.736282518 12.6945158786 -79.0048282145 -28.3761308626 17.9680067511 32.6827702808
    9.6323694863 13.1322753259 -72.6556195352 -28.4115726084 17.6505904933 38.4216703813
    9.5728481956 13.5877896295 -65.6718147553 -28.4316826344 17.3023689992 43.8839135969
    9.5557772955 14.0551977105 -58.208549738 -28.4374246422 16.9248756958 49.0820739004
    9.5790881188 14.5287437284 -50.3963076474 -28.4295809116 16.520157556 54.0321517513
    9.6406964636 15.0029169237 -42.3384530929 -28.4087481543 16.0907577131 58.7505784355
    9.7385857819 15.4725608857 -34.1121471649 -28.3753404732 15.6396886043 63.2516495413
    9.8708633668 15.9329536347 -25.7714555458 -28.3295968272 15.1703984283 67.5454622408
    10.0357929613 16.3798617643 -17.3516069257 -28.2715910348 14.6867330806 71.6363169037
    10.2318078642 16.8095725514 -8.8736306027 -28.2012430192 14.192895076 75.5214844194
    10.4575084596 17.2189078182 -0.3488835477 -28.1183306193 13.6934003647 79.1902251969
    10.7116475172 17.6052227689 8.2167929231 -28.022501806 13.1930334366 82.6229590625
    10.9931058647 17.9663922974 16.8193876605 -27.9132875786 12.6968006921 85.7905145556
    11.3008603012 18.3007865575 25.4535134299 -27.7901161648 12.2098817101 88.6534234625
    11.6339450074 18.6072369893 34.1096475671 -27.6523294419 11.7375777579 91.1612680217
    11.991407263 18.8849935799 42.7717840181 -27.4992027494 11.2852566424 93.2521330901
    12.3722580426 19.133673916 51.4154822441 -27.3299694645 10.8582927975 94.8522638617
    12.7754180325 19.3532045848 60.0063333954 -27.1438518655 10.4620013525 95.8760813097
    13.1996598216 19.5437557084 68.498904393 -26.9400998624 10.1015648694 96.2267603495
    13.6435474515 19.7056698585 76.8362578583 -26.7180390923 9.7819515143 95.797624446
    14.1053751889 19.8393872924 84.9501710918 -26.4771295797 9.5078237185 94.4746449761
    14.5831082435 19.9453703391 92.7621802633 -26.2170355677 9.2834369732 92.1403385512
    15.0743291533 20.024030779 100.1855461122 -25.9377061549 9.1125293614 88.6793100575
    15.5761945393 20.075665067 107.1281665912 -25.6394649647 8.9982038272 83.9855704774
    16.0854077189 20.1004030492 113.4963484381 -25.3231052305 8.9428070124 77.9715477027
    16.5982129754 20.0981761541 119.1992036191 -24.9899845143 8.9478106417 70.5784007536
    17.1104168467 20.0687106201 124.153283243 -24.6421110162 9.0137036808 61.7868649136
    17.6174403558 20.0115498943 128.2869407135 -24.2822114996 9.1399054058 51.6274563274
    18.1144035533 19.9261078008 131.5438739494 -23.9137697552 9.3247106073 40.1885474349
    18.5962402118 19.8117505567 133.8853705701 -23.5410248287 9.5652778255 27.6207108127
    19.0578364198 19.667901633 135.2909784644 -23.1689203675 9.8576693672 14.1359287735
    19.4941829096 19.49415955 135.7576129971 -22.8030005194 10.1969477512 0.0008297584
    Modulo
    α3 α4 AA n AAt AA ABAn

    -4.8121340537 2.1518780333 112 0 112 15.8385014364


    -4.2719668105 2.6576851729 112 0 112 19.7581373927
    -3.6858557286 3.1418687026 112 0 112 23.5466007186
    -3.0724463161 3.5891261093 112 0 112 27.0235765655
    -2.4505398218 3.9858864407 112 0 112 30.0413146912
    -1.837724154 4.321222307 112 0 112 32.4929136715
    -1.2492426556 4.5874376932 112 0 112 34.3153917313

    -0.6972161466 4.7802859937 112 0 112 35.4878792471

    -0.1902604599 4.8988373276 112 0 112 36.0259996097


    0.2665264492 4.9450648536 112 0 112 35.9738886668
    0.6712826139 4.9232478003 112 0 112 35.3953297274
    1.0249039794 4.8392934166 112 0 112 34.3652375217
    1.330469465 4.7000662509 112 0 112 32.9623394263
    1.5926529199 4.5127891096 112 0 112 31.2634972025
    1.8171820292 4.2845534649 112 0 112 29.3397716668
    2.0103793149 4.0219536415 112 0 112 27.2540955304
    2.1787987727 3.7308417755 112 0 112 25.060288939
    2.328955445 3.4161900103 112 0 112 22.8031087894
    2.4671344903 3.0820418837 112 0 112 20.5190391143
    2.5992601657 2.7315349077 112 0 112 18.2375790969
    2.7308022426 2.3669793511 112 0 112 15.9828465499
    2.8666964936 1.9899828231 112 0 112 13.7753733677
    3.0112561636 1.6016152889 112 0 112 11.6340162773
    3.168052483 1.2026136564 112 0 112 9.5779352497
    3.3397446965 0.7936281048 112 0 112 7.628598784
    3.5278449512 0.3755126886 112 0 112 5.811755863
    3.7324126351 -0.0503410209 112 0 112 4.1592651107
    3.9516888023 -0.4816381154 112 0 112 2.7105914333
    4.1817061888 -0.9148100163 112 0 112 1.5136750489
    4.4159439399 -1.3446910546 112 0 112 0.6247670741
    4.6451337331 -1.7643203777 112 0 112 0.1067507442
    4.8573532426 -2.164968631 112 0 112 0.0254925639
    5.0385437023 -2.5364889532 112 0 112 0.4439695798
    5.1735378491 -2.8680541094 112 0 112 1.4143505429
    5.2475705255 -3.1492570454 112 0 112 2.9688434298
    5.2480827005 -3.37143271 112 0 112 5.1108030781
    5.166474625 -3.528944566 112 0 112 7.8080404898
    4.9993927653 -3.6201270216 112 0 112 10.9901920627
    4.7492072469 -3.6476286829 112 0 112 14.5512593446
    4.4235466197 -3.6180569646 112 0 112 18.3571919054
    4.0340241201 -3.5410225137 112 0 112 22.2571083753
    3.5944997255 -3.4278375049 112 0 112 26.0959352064
    3.1192944586 -3.2901754784 112 0 112 29.7261661377
    2.621702426 -3.1389481068 112 0 112 33.0170324601
    2.1129911539 -2.9835397401 112 0 112 35.8602921686
    1.6019193939 -2.8314210041 112 0 112 38.1727197286
    1.0946876855 -2.6880780645 112 0 112 39.8959650817
    0.5951865806 -2.5571563588 112 0 112 40.9946915895
    0.1054082598 -2.4407176693 112 0 112 41.4538704248
    -0.3740835835 -2.3395305585 112 0 112 41.2759239889
    -0.8436934783 -2.2533415056 112 0 112 40.4781794801
    -1.3043784599 -2.1810984994 112 0 112 39.0908820343
    -1.757288082 -2.1211167743 112 0 112 37.1558525612
    -2.2034570585 -2.0711877556 112 0 112 34.7257602801
    -2.6435407646 -2.0286386389 112 0 112 31.8639031505
    -3.077582544 -1.9903532438 112 0 112 28.6443367526
    -3.5048040312 -1.9527664349 112 0 112 25.1521515504
    -3.9234142931 -1.9118456305 112 0 112 21.4836620339
    -4.3304397875 -1.8630743583 112 0 112 17.7462364921
    -4.7215844578 -1.8014546683 112 0 112 14.057466378
    -5.0911372336 -1.7215472556 112 0 112 10.5433586981
    -5.4319519725 -1.6175697235 112 0 112 7.335248699
    -5.7355311052 -1.4835734165 112 0 112 4.5651929048
    -5.9922468944 -1.3137161817 112 0 112 2.3597347
    -6.1917306885 -1.102640626 112 0 112 0.8321508527
    -6.3234481511 -0.8459535685 112 0 112 0.0735868188
    -6.3774553543 -0.5407821625 112 0 112 0.1438439515
    -6.3452972101 -0.1863572521 112 0 112 1.062930605
    -6.2209699322 0.2154507379 112 0 112 2.8047358592
    -6.0018312584 0.6597367259 112 0 112 5.2942175295
    -5.6893175447 1.1384038008 112 0 112 8.4092233485
    -5.2893274329 1.6403229685 112 0 112 11.9874596817
    -4.8121651492 2.1518469377 112 0 112 15.838263073
    Módulo Módulo
    ABAt ABA AB n ABt AB

    -105.8669491813 107.0451729724 21.5978224247 64.556340999 68.0733949254


    -93.9832698302 96.0376957304 19.0083081238 79.7305551879 81.9650975007
    -81.0888260297 84.438380564 16.1045800303 94.2560610769 95.6219773257
    -67.5938189532 72.7955908766 13.0353773881 107.6737832799 108.4599680502
    -53.9118760799 61.7168613171 9.9685780214 119.5765932199 119.9913921656
    -40.4299313889 51.8687650805 7.077317948 129.6366692114 129.8297132152
    -27.483338423 43.9645311648 4.5255743851 137.6231307957 137.6975197799

    -15.3387552242 38.6609232338 2.4551866749 143.4085798119 143.4295949422

    -4.1857301188 36.2683468676 0.975883527 146.9651198292 146.9683598434


    5.8635818832 36.4486249166 0.1592169802 148.3519456071 148.3520310459
    14.768217505 38.3527002281 0.0365706902 147.6974340103 147.6974385379
    22.5478875472 41.1020289373 0.600787831 145.1788024979 145.1800456011
    29.270328231 44.082512805 1.8105582629 141.0019875266 141.013611427
    35.0383642368 46.9584201791 3.5965413734 135.3836732884 135.4314369078
    39.9780046429 49.5889408708 5.868242883 128.5366039478 128.6704893477
    44.228344927 51.9512484755 8.5208412178 120.6586092444 120.9591035014
    47.9335729993 54.0892364725 11.4413982261 111.925253266 112.5085237305
    51.2370197901 56.0822072269 14.5141312218 102.4857003093 103.5083512235
    54.2769587868 58.0260219326 17.6246315551 92.4612565111 94.1260409933
    57.1837236461 60.0215589713 20.6630727882 81.9460472324 84.511048
    60.0776493376 62.1673172477 23.5265577201 71.0093805329 74.8052875258
    63.0673228587 64.5542262287 26.1208151091 59.6994846939 65.1638354817
    66.2476355996 67.2614269643 28.3614839553 48.048458666 55.7945172246
    69.6971546252 70.3521869347 30.1752244113 36.0784096932 47.0339857365
    73.4743833222 73.8693476619 31.5008748818 23.8088431455 39.4862777462
    77.612588927 77.8298815761 32.2908348049 11.2653806572 34.1995148175
    82.1130779726 82.2183499007 32.5127871987 -1.5102306279 32.5478436763
    86.9371536501 86.9793998065 32.1517761201 -14.4491434606 35.2493184958
    91.9975361525 92.0099878833 31.2125141869 -27.4443004886 41.5621302531
    97.1507666771 97.1527755643 29.7216148385 -40.3407316375 50.1073748829
    102.1929421271 102.192997883 27.7292425525 -52.9296113315 59.7532814851
    106.8617713383 106.861774379 25.3095011864 -64.9490589288 69.7061769576
    110.8479614513 110.8488505439 22.5588182301 -76.0946685958 79.3681224967
    113.8178326798 113.8266200121 19.5917287197 -86.0416232829 88.2439616709
    115.44655156 115.4847188956 16.5338835375 -94.4777113622 95.9135404887
    115.4578194116 115.5708802917 13.512772521 -101.1429812988 102.0416468272
    113.662441749 113.9303127382 10.6473901826 -105.86833698 106.4024045434
    109.9866408362 110.5343633628 8.0385946208 -108.6038106474 108.9009030752
    104.4825594313 105.4909682098 5.7619465262 -109.4288604858 109.5804523398
    97.3180256338 99.0342597686 3.8642754426 -108.5417089385 108.6104746513
    88.7485306416 91.4968882764 2.3642836277 -106.230675411 106.2569820546
    79.0789939609 83.2735559477 1.2565317537 -102.8351251478 102.8428015771
    68.6244780889 74.7861213476 0.5175096949 -98.7052643511 98.7066209882
    57.6774533715 66.4591081786 0.1123416934 -94.1684432028 94.1685102138
    46.4858053863 58.7102261691 0.0009380897 -89.5061922039 89.5061922089
    35.2422266661 51.9535472501 0.1428781762 -84.9426301228 84.9427502871
    24.0831290804 46.6013426427 0.5007801737 -80.6423419353 80.6438968155
    13.0941047737 43.0351056504 1.0422566092 -76.7146907637 76.7217705596
    2.3189817149 41.5186831365 1.7407331702 -73.2215300776 73.2422188282
    -8.229838837 42.0883849586 2.5754555297 -70.1859167548 70.2331537231
    -18.5612565233 44.5309247349 3.5309729459 -67.6002451684 67.692399254
    -28.6963261172 48.4930530164 4.5963160231 -65.4329549813 65.5941896708
    -38.6603378038 53.6206965513 5.7640098709 -63.6335032296 63.8940258793
    -48.4760552865 59.6305824487 7.0289989625 -62.1356326669 62.5319412247
    -58.1578968215 66.3147742716 8.3875118742 -60.8591591661 61.4344171442
    -67.706815969 73.5167392956 9.8358630027 -59.7105973154 60.5152842906
    -77.1056886872 81.10436459 11.3691727271 -58.5829930477 59.6760015661
    -86.3151144484 88.9485621954 12.9799860273 -57.3553689137 58.8057682587
    -95.2696753239 96.9084100889 14.6567821337 -55.8922307497 57.7820276616
    -103.8748580711 104.8217463137 16.3823953881 -54.0436400504 56.4720984961
    -112.0050191396 112.5001632225 18.1324115984 -51.6464176674 54.7369784356
    -119.5029433952 119.7278553787 19.8736653194 -48.5270917058 52.4389283134
    -126.1816843135 126.2642405531 21.5630391804 -44.5072024961 49.4555935433
    -131.829431677 131.8505495026 23.1468483928 -39.4114854506 45.7060365372
    -136.218075148 136.2206169127 24.5611652264 -33.0792187795 41.2005528159
    -139.1158593247 139.115878787 25.7334730567 -25.3786070541 36.1425695208
    -140.3040177951 140.3040915317 26.5860030432 -16.2234648757 31.1450858144
    -139.5965386228 139.600585303 27.0409635378 -5.5907175629 27.6128562797
    -136.8613385082 136.8900745908 27.027601241 6.4635221369 27.7897165739
    -132.0402876843 132.1463821336 26.4906441808 19.792101778 33.0678321319
    -125.1649859826 125.4471552222 25.3992282382 34.1521140234 42.5615752453
    -116.3652035232 116.9810231645 23.75501084 49.2096890558 54.64333479
    -105.867633283 107.0458142764 21.5979677745 64.5554081316 68.072556372
    Ángulo de manivela vs acoplador
    70

    60

    50

    40
    θ3

    30

    20

    10

    0
    0 50 100 150 200 250 300 350 400

    θ2

    Velocidad angular del acoplador respecto a la posicón de la manivela


    2

    1.5

    0.5 Veloc
    Velocidad del punto B respecto a la posición de la manivela
    w3

    30
    40 0 0 50 100 150 200 250 300 350 400
    30 25
    -0.5
    20
    10 20
    -1
    VB

    0
    0 50 100 150 200 250 300 350 400
    -1.5
    -10 15
    VA

    -20
    -30
    θ2 10
    -40

    θ2 5

    0
    0
    5

    0
    0

    Aceleración angular del acoplador respecto a la posición de la manivela


    6

    0
    0 50 100 150 200 250 300 350 400
    α3

    -2

    -4

    -6

    -8

    θ2

    Aceleración del punto A respecto a la posición de la manivela


    120

    100

    80

    60
    AA

    40

    20

    0
    0 50 100 150 200 250 300 350 400

    θ2
    20

    0
    0 50 100 150 200 250 300 350 400

    θ2
    Ángulo de manivela vs balancín
    180

    160

    140

    120

    100
    θ4

    80

    60

    40

    20

    0
    350 400 0 50 100 150 200 250 300 350

    θ2

    de la manivela Velocidad angular del balancín respecto a la posición de la manivela


    1.5

    0.5

    Velocidad del punto A respecto a la posición de la manivela


    w4

    0
    0 50 100 150 200 250 300 350 400
    30
    350 400 -0.5
    25
    -1

    20
    -1.5

    15 θ2
    VA

    10

    0
    0 50 100 150 200 250 300 350 400

    θ2
    5

    0
    0 50 100 150 200 250 300 350 400

    θ2

    Aceleración angular del balancín respecto a la posición de la manive


    ón de la manivela
    6

    350 400
    α4

    0
    0 50 100 150 200 250 300 350

    -2

    -4

    -6

    θ2

    Aceleración del punto B respecto a la posición de la manivela


    anivela 160

    140

    120

    100

    80
    AB

    60

    40

    20

    0
    0 50 100 150 200 250 300 350 40
    350 400
    θ2
    20

    0
    0 50 100 150 200 250 300 350 40
    350 400
    θ2
    ncín

    300 350 400

    ión de la manivela

    ela
    00 350 400

    350 400
    350 400

    osición de la manivela

    300 350 400

    de la manivela

    300 350 400


    300 350 400

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