Para los valores de θ2 de la tabla 1, determine θ3 y θ 4 en forma analítica.

Configuración #1
L1=200 L2=50 L3=22 0 L4=20 0

θ2 BD y θ3 θ4
0 175 54.534803 68.5631088 123.097912
30 178.786873 55.8334273 63.7469351 119.580362
60 188.745861 59.2852746 59.0547272 118.340002
90 201.556444 63.8119028 55.8011334 119.613036
120 213.600094 68.1687001 54.5457652 122.714465
150 222.002824 71.2742813 55.3338836 126.608165
180 225 72.3963534 57.9152668 130.31162
210 222.002824 71.2742813 61.789443 133.063724
240 213.600094 68.1687001 66.1808165 134.349517
270 201.556444 63.8119028 70.0511661 133.863069
300 188.745861 59.2852746 72.2282783 131.513553
330 178.786873 55.8334273 71.7652197 127.598647
360 175 54.534803 68.5631088 123.097912

Configuración #2

L1=200 L2=50 L3=180 L4 =20 0

θ2 BD y θ3 θ4
46.127528 120.11032
0 150 73.9827991
1 7
158.68047 49.016596 112.02898
30 63.0123907
1 5 7
180.27756 109.88772
60 56.346664 53.5410634
4 7
206.15528 65.463189 113.37644
90 47.9132548
1 3 4
229.12878 120.08275
120 73.9552 46.1275511
5 1
244.58231 79.937917 127.69527
150 47.7573551
3 1 2
82.096792 134.50728
180 250 52.410497
3 9
244.58231 79.937917 59.4908327
210 139.42875
3 1 3
229.12878
240 73.9552 67.9143404 141.86954
5
206.15528 65.463189 141.44893
270 75.9857418
1 3 1
180.27756
300 56.346664 81.3368359 137.6835
4
 158.68047 49.016596 130.15834
330 81.1417475
1 5 4
46.127528 120.11032
360 150 73.9827991
1 7

Grafique para todas las configuraciones.

1. θ2 vs θ 4 Experimental

2. θ2 vs θ 4 θ2 vs θ3 Analítico

Configuración #1

𝜃2 vs 𝜃3
80
70
60
50
40
30
20
10
0
0 50 100 150 200 250 300 350 400

𝜃2 vs 𝜃4
140
135
130
125
120
115
110
0 50 100 150 200 250 300 350 400

Configuración #2
 𝜃2 vs 𝜃3
90
80
70
60
50
40
30
20
10
0
0 50 100 150 200 250 300 350 400

𝜃2 vs 𝜃4
160
140
120
100
80
60
40
20
0
0 50 100 150 200 250 300 350 400