MECANISMO DE RETORNO RAPIDO

b l
=
sin() sin ( 90 )

sin
sin cos cos

=l
b cos

sin cos tan
b=l

l sin b
tan = (1)
l cos

b

l sin



lcos 2
lsin
( l cos ) ( l cos )
sec 2 =
 2
lcos


2 l 2bl sin
=cos

Sustituyendo en la ecuacin 1

l cos
cos =
l +b22bl sin
2

lcos 2

lcos 2


( l 2+ b22 bl sin )l 2bl sin


=

lb sin
=l 2 2
(2)
l +b + 2bl sin

b
tan 1 ( )
0< l b2
2

Ec. (1) -90 <0

=tan 1 ( lsinl cosb )+360

90 <<270 , Ec ( 1 )90 << 90

=tan 1 ( lsinl cosb )+180

270 < 360 , Ec ( 1 )90 < 0

1 lsin b
=tan ( )+360
l cos

b
0 < tan 1
( l b2
2
,
)
=tan 1 ( lsinl cosb )+360
1 b
tan ( ) < 90
l b2
2

=tan 1 ( lsinl cosb )

lb sin
2 2
l +b 2lb sin

=l