Datos Ecuacion de Gobierno Mecanism

Dimensión
Puntos Dimensión Variable Posición
Adecuada
O2A 2 a1 2 𝑓_1 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_2 cos(𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0
AB 4 a3 4 𝑓_2 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_2 sen(𝜃_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0
AC 8 a2 8 𝑓_3 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_3 cos(𝜃_2 )+𝑎_4 cos(𝜃_3 )"−Hcos("
BD 4 a4 4 𝑓_4 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_3 sen(𝜃_2 )+𝑎_4 se𝑛(𝜃_3 )"−Hsen("
O6D 4 a5 4
O2O6 4 H 4
Θs 180 Θs 3.1416
Θh 90 Θh 1.5708
Θ2 45 Θ1 0.7854

Primera Iteración Vector f[X]

DX1 = 3.9495E-01 3.9495E-01 in f1[X] = -0.4388
Dx2 = 2.8746E-01 1.6470E+01 ° f2[X] = -0.1123
>>> >>>
DX3 = 2.2135E-01 1.2683E+01 ° f3[X] = 0.4032
DX4 = 3.7181E-01 2.1303E+01 ° f4[X] = -0.1111

Segunda Iteración Vector f[X]

DX1 = 1.4202E-01 1.4202E-01 in f1[X] = 0.7112
Dx2 = -1.9271E-01 -1.1042E+01 ° f2[X] = -2.2761
>>> >>>
DX3 = -7.5825E-02 -4.3445E+00 ° f3[X] = -0.0849
DX4 = -2.0173E-01 -1.1558E+01 ° f4[X] = -0.0365

Tercera Iteración Vector f[X]

DX1 = -1.4350E-02 -1.4350E-02 in f1[X] = 0.2778
Dx2 = -1.2279E-01 -7.0351E+00 ° f2[X] = -0.8484
>>> >>>
DX3 = -3.7938E-02 -2.1737E+00 ° f3[X] = -0.0074
DX4 = -1.3473E-01 -7.7195E+00 ° f4[X] = 0.0077

Cuarta Iteración Vector f[X]

DX1 = -5.7516E-02 -5.7516E-02 in f1[X] = 0.0441
Dx2 = -3.3788E-02 -1.9359E+00 ° f2[X] = 0.1085
>>> >>>
DX3 = -1.2667E-02 -7.2575E-01 ° f3[X] = -0.0059
DX4 = -3.9660E-02 -2.2724E+00 ° f4[X] = 0.0058
Gobierno Mecanismo 2 Lazos Incógnitas Matrix Ja
Posición Variable Dimensión Matrix C
𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0 s1 6
𝐽[𝑋 ⃑]=[■8(𝑠_1 sen(𝜃_𝑠)& 〖−𝑎〗 _2 𝑠𝑒𝑛(𝜃_2)&0&0@ 〖−𝑠〗 _1 cos(𝜃_𝑠)&𝑎_2 𝑐𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗
_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0 Θ2 191
+𝑎_4 cos(𝜃_3 )"−Hcos(" 𝜃_ℎ ")−" 𝑎_5 cos(𝜃_4 )=0 Θ3 105
+𝑎_4 se𝑛(𝜃_3 )"−Hsen(" 𝜃_ℎ ")−" 𝑎_5 sen(𝜃_4 )=0 Θ4 171

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.4388 s1 6 6 0.0000
f2[X] = 0.1123 Θ2 3.3336 191 6.0000
f3[X] = -0.4032 Θ3 1.8326 105 0.0000
f4[X] = 0.1111 Θ4 2.9845 171 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.7112 s1 6.3950E+00 6.3950 0.0000
f2[X] = 2.2761 Θ2 3.6210E+00 207.4704 6.3950
f3[X] = 0.0849 Θ3 2.0539E+00 117.6826 0.0000
f4[X] = 0.0365 Θ4 3.3563E+00 192.3033 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.2778 s1 6.5370E+00 6.5370 0.0000
f2[X] = 0.8484 Θ2 3.4283E+00 196.4288 6.5370
f3[X] = 0.0074 Θ3 1.9781E+00 113.3381 0.0000
f4[X] = -0.0077 Θ4 3.1546E+00 180.7451 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0441 s1 6.5226E+00 6.5226 0.0000
f2[X] = -0.1085 Θ2 3.3055E+00 189.3937 6.5226
f3[X] = 0.0059 Θ3 1.9402E+00 111.1644 0.0000
f4[X] = -0.0058 Θ4 3.0199E+00 173.0256 0.0000
 Matrix Jacobiana
Matrix Calculada

𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗 _3 𝑠𝑒𝑛(𝜃_2)& 〖−𝑎〗 _4 𝑠𝑒𝑛(𝜃_3)&𝑎_5 𝑠𝑒𝑛(𝜃_4)@0&𝑎_3 𝑐𝑜𝑠(𝜃_2)&𝑎_4 𝑐𝑜𝑠(𝜃_3)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]

Matrix J
1.5265 0.0000 0.0000
-7.8530 0.0000 0.0000
0.7632 -3.8637 0.6257
-3.9265 -1.0353 3.9508

Matrix J
3.6903 0.0000 0.0000
-7.0980 0.0000 0.0000
1.8452 -3.5421 -0.8523
-3.5490 -1.8583 3.9081

Matrix J
2.2626 0.0000 0.0000
-7.6734 0.0000 0.0000
1.1313 -3.6727 -0.0520
-3.8367 -1.5846 3.9997

Matrix J
1.3057 0.0000 0.0000
-7.8927 0.0000 0.0000
0.6529 -3.7302 0.4857
-3.9464 -1.4442 3.9704
)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]
 Datos Ecuacion de Gobierno Mecanism
Dimensión
Puntos Dimensión Variable Posición
Adecuada
O2A 2 a1 2 𝑓_1 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_2 cos(𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0
AB 4 a3 4 𝑓_2 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_2 sen(𝜃_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0
AC 8 a2 8 𝑓_3 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_3 cos(𝜃_2 )+𝑎_4 cos(𝜃_3 )"−Hcos("
BD 4 a4 4 𝑓_4 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_3 sen(𝜃_2 )+𝑎_4 se𝑛(𝜃_3 )"−Hsen("
O6D 4 a5 4
O2O6 4 H 4
Θs 180 Θs 3.1416
Θh 90 Θh 1.5708
Θ2 60 Θ1 1.0472

Primera Iteración Vector f[X]

DX1 = -1.3739E-01 -1.3739E-01 in f1[X] = 0.1470
Dx2 = -9.6289E-02 -5.5170E+00 ° f2[X] = 0.2056
>>> >>>
DX3 = 2.8463E-02 1.6308E+00 ° f3[X] = 0.2601
DX4 = -7.6953E-02 -4.4091E+00 ° f4[X] = -0.0596

Segunda Iteración Vector f[X]

DX1 = 1.1997E-02 1.1997E-02 in f1[X] = -0.1008
Dx2 = 1.3185E-01 7.5544E+00 ° f2[X] = 0.9676
>>> >>>
DX3 = 6.3244E-02 3.6236E+00 ° f3[X] = 0.0072
DX4 = 1.5057E-01 8.6272E+00 ° f4[X] = 0.0045

Tercera Iteración Vector f[X]

DX1 = -4.0205E-02 -4.0205E-02 in f1[X] = 0.0808
Dx2 = -4.4785E-02 -2.5660E+00 ° f2[X] = -0.0727
>>> >>>
DX3 = -2.1631E-02 -1.2394E+00 ° f3[X] = -0.0075
DX4 = -5.2377E-02 -3.0010E+00 ° f4[X] = 0.0092

Cuarta Iteración Vector f[X]

DX1 = -1.5068E-02 -1.5068E-02 in f1[X] = -0.0324
Dx2 = 2.2258E-02 1.2753E+00 ° f2[X] = 0.2781
>>> >>>
DX3 = 9.4495E-03 5.4142E-01 ° f3[X] = -0.0012
DX4 = 2.4542E-02 1.4062E+00 ° f4[X] = 0.0010

Quinta Iteración Vector f[X]

DX1 = -5.9026E-03 -5.9026E-03 in f1[X] = -0.0131
Dx2 = 8.0570E-03 4.6163E-01 ° f2[X] = 0.1034
>>> >>>
DX3 = 3.4599E-03 1.9824E-01 ° f3[X] = -0.0002
DX4 = 8.8643E-03 5.0789E-01 ° f4[X] = 0.0003

Sexta Iteración Vector f[X]

DX1 = -2.0839E-03 -2.0839E-03 in f1[X] = -0.0056
Dx2 = 3.3389E-03 1.9130E-01 ° f2[X] = 0.0403
>>> >>>
DX3 = 1.4440E-03 8.2733E-02 ° f3[X] = 0.0000
DX4 = 3.6887E-03 2.1135E-01 ° f4[X] = 0.0000
Gobierno Mecanismo 2 Lazos Incógnitas Matrix Ja
Posición Variable Dimensión Matrix C
𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0 s1 7
𝐽[𝑋 ⃑]=[■8(𝑠_1 sen(𝜃_𝑠)& 〖−𝑎〗 _2 𝑠𝑒𝑛(𝜃_2)&0&0@ 〖−𝑠〗 _1 cos(𝜃_𝑠)&𝑎_2 𝑐𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗
_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0 Θ2 191
+𝑎_4 cos(𝜃_3 )"−Hcos(" 𝜃_ℎ ")−" 𝑎_5 cos(𝜃_4 )=0 Θ3 100
+𝑎_4 se𝑛(𝜃_3 )"−Hsen(" 𝜃_ℎ ")−" 𝑎_5 sen(𝜃_4 )=0 Θ4 166

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.1470 s1 7 7 0.0000
f2[X] = -0.2056 Θ2 3.3336 191 7.0000
f3[X] = -0.2601 Θ3 1.7453 100 0.0000
f4[X] = 0.0596 Θ4 2.8972 166 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.1008 s1 6.8626E+00 6.8626 0.0000
f2[X] = -0.9676 Θ2 3.2373E+00 185.4830 6.8626
f3[X] = -0.0072 Θ3 1.7738E+00 101.6308 0.0000
f4[X] = -0.0045 Θ4 2.8203E+00 161.5909 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0808 s1 6.8746E+00 6.8746 0.0000
f2[X] = 0.0727 Θ2 3.3691E+00 193.0375 6.8746
f3[X] = 0.0075 Θ3 1.8370E+00 105.2545 0.0000
f4[X] = -0.0092 Θ4 2.9709E+00 170.2181 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0324 s1 6.8344E+00 6.8344 0.0000
f2[X] = -0.2781 Θ2 3.3244E+00 190.4715 6.8344
f3[X] = 0.0012 Θ3 1.8154E+00 104.0151 0.0000
f4[X] = -0.0010 Θ4 2.9185E+00 167.2171 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0131 s1 6.8193E+00 6.8193 0.0000
f2[X] = -0.1034 Θ2 3.3466E+00 191.7468 6.8193
f3[X] = 0.0002 Θ3 1.8249E+00 104.5565 0.0000
 f4[X] = -0.0003 Θ4 2.9430E+00 168.6233 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0056 s1 6.8134E+00 6.8134 0.0000
f2[X] = -0.0403 Θ2 3.3547E+00 192.2084 6.8134
f3[X] = 0.0000 Θ3 1.8283E+00 104.7547 0.0000
f4[X] = 0.0000 Θ4 2.9519E+00 169.1312 0.0000
 Matrix Jacobiana
Matrix Calculada

𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗 _3 𝑠𝑒𝑛(𝜃_2)& 〖−𝑎〗 _4 𝑠𝑒𝑛(𝜃_3)&𝑎_5 𝑠𝑒𝑛(𝜃_4)@0&𝑎_3 𝑐𝑜𝑠(𝜃_2)&𝑎_4 𝑐𝑜𝑠(𝜃_3)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]

Matrix J
1.5265 0.0000 0.0000
-7.8530 0.0000 0.0000
0.7632 -3.9392 0.9677
-3.9265 -0.6946 3.8812

Matrix J
0.7644 0.0000 0.0000
-7.9634 0.0000 0.0000
0.3822 -3.9179 1.2632
-3.9817 -0.8064 3.7953

Matrix J
1.8047 0.0000 0.0000
-7.7938 0.0000 0.0000
0.9024 -3.8591 0.6796
-3.8969 -1.0524 3.9418

Matrix J
1.4540 0.0000 0.0000
-7.8668 0.0000 0.0000
0.7270 -3.8809 0.8850
-3.9334 -0.9687 3.9009

Matrix J
1.6287 0.0000 0.0000
-7.8325 0.0000 0.0000
0.8143 -3.8716 0.7890
-3.9162 -1.0053 3.9214

Matrix J
1.6917 0.0000 0.0000
-7.8191 0.0000 0.0000
0.8459 -3.8681 0.7542
-3.9095 -1.0187 3.9282
)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]
 Datos Ecuacion de Gobierno Mecanism
Dimensión
Puntos Dimensión Variable Posición
Adecuada
O2A 2 a1 2 𝑓_1 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_2 cos(𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0
AB 4 a3 4 𝑓_2 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_2 sen(𝜃_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0
AC 8 a2 8 𝑓_3 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_3 cos(𝜃_2 )+𝑎_4 cos(𝜃_3 )"−Hcos("
BD 4 a4 4 𝑓_4 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_3 sen(𝜃_2 )+𝑎_4 se𝑛(𝜃_3 )"−Hsen("
O6D 4 a5 4
O2O6 4 H 4
Θs 180 Θs 3.1416
Θh 90 Θh 1.5708
Θ2 120 Θ1 2.0944

Primera Iteración Vector f[X]

DX1 = 7.4284E-01 7.4284E-01 in f1[X] = -0.9221
Dx2 = 8.2824E-01 4.7454E+01 ° f2[X] = 0.6187
>>> >>>
DX3 = 3.7041E-01 2.1223E+01 ° f3[X] = 0.0336
DX4 = 7.8856E-01 4.5181E+01 ° f4[X] = -0.1689

Segunda Iteración Vector f[X]

DX1 = 3.0310E-01 3.0310E-01 in f1[X] = 3.2063
Dx2 = -4.8659E-01 -2.7880E+01 ° f2[X] = -4.8573
>>> >>>
DX3 = -2.1215E-01 -1.2155E+01 ° f3[X] = -0.0370
DX4 = -4.2025E-01 -2.4079E+01 ° f4[X] = 0.3155

Tercera Iteración Vector f[X]

DX1 = 1.5820E-02 1.5820E-02 in f1[X] = 0.9547
Dx2 = -2.5780E-01 -1.4771E+01 ° f2[X] = -1.9712
>>> >>>
DX3 = -1.0363E-01 -5.9378E+00 ° f3[X] = -0.0039
DX4 = -2.4693E-01 -1.4148E+01 ° f4[X] = 0.1283

Cuarta Iteración Vector f[X]

DX1 = -1.2207E-01 -1.2207E-01 in f1[X] = 0.2607
Dx2 = -1.4704E-01 -8.4247E+00 ° f2[X] = -0.0409
>>> >>>
DX3 = -5.9327E-02 -3.3992E+00 ° f3[X] = -0.0030
DX4 = -1.3910E-01 -7.9701E+00 ° f4[X] = 0.0312

Quinta Iteración Vector f[X]

DX1 = -7.1443E-02 -7.1443E-02 in f1[X] = -0.0370
Dx2 = 6.0485E-02 3.4656E+00 ° f2[X] = 1.1212
>>> >>>
DX3 = 2.3048E-02 1.3206E+00 ° f3[X] = 0.0030
DX4 = 5.3803E-02 3.0827E+00 ° f4[X] = 0.0092

Sexta Iteración Vector f[X]

DX1 = -2.5628E-02 -2.5628E-02 in f1[X] = -0.0569
Dx2 = 5.2089E-02 2.9845E+00 ° f2[X] = 0.6401
>>> >>>
DX3 = 2.0428E-02 1.1705E+00 ° f3[X] = 0.0014
DX4 = 4.7239E-02 2.7066E+00 ° f4[X] = 0.0014

Sexta Iteración Vector f[X]

DX1 = -1.7080E-02 -1.7080E-02 in f1[X] = -0.0149
Dx2 = 9.9162E-03 5.6816E-01 ° f2[X] = 0.2289
>>> >>>
DX3 = 4.0260E-03 2.3068E-01 ° f3[X] = 0.0008
DX4 = 8.6305E-03 4.9449E-01 ° f4[X] = 0.0011

Sexta Iteración Vector f[X]

DX1 = -7.7385E-03 -7.7385E-03 in f1[X] = -0.0167
Dx2 = 1.0559E-02 6.0501E-01 ° f2[X] = 0.1511
>>> >>>
DX3 = 4.1605E-03 2.3838E-01 ° f3[X] = 0.0000
DX4 = 9.4951E-03 5.4403E-01 ° f4[X] = 0.0000

Sexta Iteración Vector f[X]

DX1 = -3.8607E-03 -3.8607E-03 in f1[X] = -0.0073
Dx2 = 4.3889E-03 2.5146E-01 ° f2[X] = 0.0684
>>> >>>
DX3 = 1.7367E-03 9.9505E-02 ° f3[X] = 0.0000
DX4 = 3.9265E-03 2.2497E-01 ° f4[X] = 0.0000
Gobierno Mecanismo 2 Lazos Incógnitas Matrix Ja
Posición Variable Dimensión Matrix C
𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0 s1 8
𝐽[𝑋 ⃑]=[■8(𝑠_1 sen(𝜃_𝑠)& 〖−𝑎〗 _2 𝑠𝑒𝑛(𝜃_2)&0&0@ 〖−𝑠〗 _1 cos(𝜃_𝑠)&𝑎_2 𝑐𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗
_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0 Θ2 188
+𝑎_4 cos(𝜃_3 )"−Hcos(" 𝜃_ℎ ")−" 𝑎_5 cos(𝜃_4 )=0 Θ3 73
+𝑎_4 se𝑛(𝜃_3 )"−Hsen(" 𝜃_ℎ ")−" 𝑎_5 sen(𝜃_4 )=0 Θ4 163

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.9221 s1 8 8 0.0000
f2[X] = -0.6187 Θ2 3.2812 188 8.0000
f3[X] = -0.0336 Θ3 1.2741 73 0.0000
f4[X] = 0.1689 Θ4 2.8449 163 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -3.2063 s1 8.7428E+00 8.7428 0.0000
f2[X] = 4.8573 Θ2 4.1095E+00 235.4544 8.7428
f3[X] = 0.0370 Θ3 1.6445E+00 94.2232 0.0000
f4[X] = -0.3155 Θ4 3.6334E+00 208.1812 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.9547 s1 9.0459E+00 9.0459 0.0000
f2[X] = 1.9712 Θ2 3.6229E+00 207.5748 9.0459
f3[X] = 0.0039 Θ3 1.4324E+00 82.0681 0.0000
f4[X] = -0.1283 Θ4 3.2132E+00 184.1026 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.2607 s1 9.0618E+00 9.0618 0.0000
f2[X] = 0.0409 Θ2 3.3651E+00 192.8042 9.0618
f3[X] = 0.0030 Θ3 1.3287E+00 76.1303 0.0000
f4[X] = -0.0312 Θ4 2.9663E+00 169.9548 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0370 s1 8.9397E+00 8.9397 0.0000
f2[X] = -1.1212 Θ2 3.2180E+00 184.3795 8.9397
f3[X] = -0.0030 Θ3 1.2694E+00 72.7311 0.0000
 f4[X] = -0.0092 Θ4 2.8272E+00 161.9847 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0569 s1 8.8682E+00 8.8682 0.0000
f2[X] = -0.6401 Θ2 3.2785E+00 187.8451 8.8682
f3[X] = -0.0014 Θ3 1.2924E+00 74.0516 0.0000
f4[X] = -0.0014 Θ4 2.8810E+00 165.0674 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0149 s1 8.8426E+00 8.8426 0.0000
f2[X] = -0.2289 Θ2 3.3306E+00 190.8296 8.8426
f3[X] = -0.0008 Θ3 1.3129E+00 75.2221 0.0000
f4[X] = -0.0011 Θ4 2.9282E+00 167.7740 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0167 s1 8.8255E+00 8.8255 0.0000
f2[X] = -0.1511 Θ2 3.3405E+00 191.3977 8.8255
f3[X] = 0.0000 Θ3 1.3169E+00 75.4528 0.0000
f4[X] = 0.0000 Θ4 2.9368E+00 168.2685 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0073 s1 8.8178E+00 8.8178 0.0000
f2[X] = -0.0684 Θ2 3.3511E+00 192.0027 8.8178
f3[X] = 0.0000 Θ3 1.3211E+00 75.6912 0.0000
f4[X] = 0.0000 Θ4 2.9463E+00 168.8125 0.0000
 Matrix Jacobiana
Matrix Calculada

𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗 _3 𝑠𝑒𝑛(𝜃_2)& 〖−𝑎〗 _4 𝑠𝑒𝑛(𝜃_3)&𝑎_5 𝑠𝑒𝑛(𝜃_4)@0&𝑎_3 𝑐𝑜𝑠(𝜃_2)&𝑎_4 𝑐𝑜𝑠(𝜃_3)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]

Matrix J
1.1134 0.0000 0.0000
-7.9221 0.0000 0.0000
0.5567 -3.8252 1.1695
-3.9611 1.1695 3.8252

Matrix J
6.5894 0.0000 0.0000
-4.5365 0.0000 0.0000
3.2947 -3.9891 -1.8890
-2.2682 -0.2946 3.5258

Matrix J
3.7032 0.0000 0.0000
-7.0913 0.0000 0.0000
1.8516 -3.9617 -0.2862
-3.5456 0.5520 3.9898

Matrix J
1.7730 0.0000 0.0000
-7.8011 0.0000 0.0000
0.8865 -3.8834 0.6977
-3.9005 0.9589 3.9387

Matrix J
0.6109 0.0000 0.0000
-7.9766 0.0000 0.0000
0.3054 -3.8197 1.2371
-3.9883 1.1874 3.8039

Matrix J
1.0920 0.0000 0.0000
-7.9251 0.0000 0.0000
0.5460 -3.8460 1.0307
-3.9626 1.0991 3.8649

Matrix J
1.5031 0.0000 0.0000
-7.8575 0.0000 0.0000
0.7516 -3.8677 0.8471
-3.9288 1.0203 3.9093

Matrix J
1.5809 0.0000 0.0000
-7.8422 0.0000 0.0000
0.7905 -3.8718 0.8133
-3.9211 1.0047 3.9164

Matrix J
1.6637 0.0000 0.0000
-7.8251 0.0000 0.0000
0.8318 -3.8759 0.7761
-3.9126 0.9886 3.9240
)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]
 Datos Ecuacion de Gobierno Mecanism
Dimensión
Puntos Dimensión Variable Posición
Adecuada
O2A 2 a1 2 𝑓_1 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_2 cos(𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0
AB 4 a3 4 𝑓_2 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_2 sen(𝜃_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0
AC 8 a2 8 𝑓_3 [𝑋 ⃑ ]=𝑎_1 cos⁡(𝜃_1 )+𝑎_3 cos(𝜃_2 )+𝑎_4 cos(𝜃_3 )"−Hcos("
BD 4 a4 4 𝑓_4 [𝑋 ⃑ ]=𝑎_1 sen⁡(𝜃_1 )+𝑎_3 sen(𝜃_2 )+𝑎_4 se𝑛(𝜃_3 )"−Hsen("
O6D 4 a5 4
O2O6 4 H 4
Θs 180 Θs 3.1416
Θh 90 Θh 1.5708
Θ2 135 Θ1 2.3562

Primera Iteración Vector f[X]

DX1 = 2.3250E-01 2.3250E-01 in f1[X] = -0.3364
Dx2 = 3.0210E-01 1.7309E+01 ° f2[X] = 0.3008
>>> >>>
DX3 = 1.7102E-01 9.7986E+00 ° f3[X] = 0.2544
DX4 = 2.8417E-01 1.6282E+01 ° f4[X] = -0.2118

Segunda Iteración Vector f[X]

DX1 = 8.2997E-02 8.2997E-02 in f1[X] = 0.5862
Dx2 = -1.7140E-01 -9.8202E+00 ° f2[X] = -2.0058
>>> >>>
DX3 = -6.1445E-02 -3.5206E+00 ° f3[X] = -0.0054
DX4 = -1.4015E-01 -8.0298E+00 ° f4[X] = 0.0019

Tercera Iteración Vector f[X]

DX1 = 3.2194E-03 3.2194E-03 in f1[X] = 0.1918
Dx2 = -8.9790E-02 -5.1446E+00 ° f2[X] = -0.7222
>>> >>>
DX3 = -2.4494E-02 -1.4034E+00 ° f3[X] = 0.0131
DX4 = -8.1783E-02 -4.6858E+00 ° f4[X] = 0.0123

Cuarta Iteración Vector f[X]

DX1 = -1.7908E-02 -1.7908E-02 in f1[X] = 0.0345
Dx2 = -2.4040E-02 -1.3774E+00 ° f2[X] = -0.0223
>>> >>>
DX3 = -6.7543E-03 -3.8700E-01 ° f3[X] = 0.0019
DX4 = -2.2335E-02 -1.2797E+00 ° f4[X] = 0.0035

Quinta Iteración Vector f[X]

DX1 = -7.3348E-03 -7.3348E-03 in f1[X] = -0.0156
Dx2 = 1.2535E-02 7.1821E-01 ° f2[X] = 0.1673
>>> >>>
DX3 = 3.7114E-03 2.1265E-01 ° f3[X] = 0.0001
DX4 = 1.1124E-02 6.3736E-01 ° f4[X] = 0.0002

Sexta Iteración Vector f[X]

DX1 = -3.1182E-03 -3.1182E-03 in f1[X] = -0.0067
Dx2 = 4.9888E-03 2.8584E-01 ° f2[X] = 0.0683
>>> >>>
DX3 = 1.4902E-03 8.5381E-02 ° f3[X] = 0.0001
DX4 = 4.4202E-03 2.5326E-01 ° f4[X] = 0.0001

Sexta Iteración Vector f[X]

DX1 = -1.2720E-03 -1.2720E-03 in f1[X] = -0.0030
Dx2 = 2.1802E-03 1.2492E-01 ° f2[X] = 0.0290
>>> >>>
DX3 = 6.4950E-04 3.7214E-02 ° f3[X] = 0.0000
DX4 = 1.9343E-03 1.1083E-01 ° f4[X] = 0.0000

Sexta Iteración Vector f[X]

DX1 = -5.1480E-04 -5.1480E-04 in f1[X] = -0.0013
Dx2 = 8.9367E-04 5.1203E-02 ° f2[X] = 0.0118
>>> >>>
DX3 = 2.6609E-04 1.5246E-02 ° f3[X] = 0.0000
DX4 = 7.9305E-04 4.5438E-02 ° f4[X] = 0.0000

Sexta Iteración Vector f[X]

DX1 = -2.0712E-04 -2.0712E-04 in f1[X] = -0.0005
Dx2 = 3.6302E-04 2.0799E-02 ° f2[X] = 0.0048
>>> >>>
DX3 = 1.0805E-04 6.1910E-03 ° f3[X] = 0.0000
DX4 = 3.2220E-04 1.8461E-02 ° f4[X] = 0.0000
Gobierno Mecanismo 2 Lazos Incógnitas Matrix Ja
Posición Variable Dimensión Matrix C
𝜃_2)-𝑠_1 cos(𝜃_𝑠 )=0 s1 9
𝐽[𝑋 ⃑]=[■8(𝑠_1 sen(𝜃_𝑠)& 〖−𝑎〗 _2 𝑠𝑒𝑛(𝜃_2)&0&0@ 〖−𝑠〗 _1 cos(𝜃_𝑠)&𝑎_2 𝑐𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗
_2)"-" 𝑠_1 sen(𝜃_𝑠 )=0 Θ2 188
+𝑎_4 cos(𝜃_3 )"−Hcos(" 𝜃_ℎ ")−" 𝑎_5 cos(𝜃_4 )=0 Θ3 65
+𝑎_4 se𝑛(𝜃_3 )"−Hsen(" 𝜃_ℎ ")−" 𝑎_5 sen(𝜃_4 )=0 Θ4 170

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.3364 s1 9 9 0.0000
f2[X] = -0.3008 Θ2 3.2812 188 9.0000
f3[X] = -0.2544 Θ3 1.1345 65 0.0000
f4[X] = 0.2118 Θ4 2.9671 170 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.5862 s1 9.2325E+00 9.2325 0.0000
f2[X] = 2.0058 Θ2 3.5833E+00 205.3093 9.2325
f3[X] = 0.0054 Θ3 1.3055E+00 74.7986 0.0000
f4[X] = -0.0019 Θ4 3.2512E+00 186.2815 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.1918 s1 9.3155E+00 9.3155 0.0000
f2[X] = 0.7222 Θ2 3.4119E+00 195.4891 9.3155
f3[X] = -0.0131 Θ3 1.2440E+00 71.2780 0.0000
f4[X] = -0.0123 Θ4 3.1111E+00 178.2517 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0345 s1 9.3187E+00 9.3187 0.0000
f2[X] = 0.0223 Θ2 3.3221E+00 190.3445 9.3187
f3[X] = -0.0019 Θ3 1.2195E+00 69.8746 0.0000
f4[X] = -0.0035 Θ4 3.0293E+00 173.5659 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0156 s1 9.3008E+00 9.3008 0.0000
f2[X] = -0.1673 Θ2 3.2981E+00 188.9671 9.3008
f3[X] = -0.0001 Θ3 1.2128E+00 69.4876 0.0000
 f4[X] = -0.0002 Θ4 3.0070E+00 172.2862 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0067 s1 9.2935E+00 9.2935 0.0000
f2[X] = -0.0683 Θ2 3.3106E+00 189.6853 9.2935
f3[X] = -0.0001 Θ3 1.2165E+00 69.7003 0.0000
f4[X] = -0.0001 Θ4 3.0181E+00 172.9236 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0030 s1 9.2904E+00 9.2904 0.0000
f2[X] = -0.0290 Θ2 3.3156E+00 189.9711 9.2904
f3[X] = 0.0000 Θ3 1.2180E+00 69.7857 0.0000
f4[X] = 0.0000 Θ4 3.0225E+00 173.1768 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0013 s1 9.2891E+00 9.2891 0.0000
f2[X] = -0.0118 Θ2 3.3178E+00 190.0961 9.2891
f3[X] = 0.0000 Θ3 1.2186E+00 69.8229 0.0000
f4[X] = 0.0000 Θ4 3.0244E+00 173.2877 0.0000

Vector f[X] Vector Incógnitas Mat

f1[X] = 0.0005 s1 9.2886E+00 9.2886 0.0000
f2[X] = -0.0048 Θ2 3.3187E+00 190.1473 9.2886
f3[X] = 0.0000 Θ3 1.2189E+00 69.8381 0.0000
f4[X] = 0.0000 Θ4 3.0252E+00 173.3331 0.0000
 Matrix Jacobiana
Matrix Calculada

𝑜𝑠(𝜃_2)&0&0@0& 〖−𝑎〗 _3 𝑠𝑒𝑛(𝜃_2)& 〖−𝑎〗 _4 𝑠𝑒𝑛(𝜃_3)&𝑎_5 𝑠𝑒𝑛(𝜃_4)@0&𝑎_3 𝑐𝑜𝑠(𝜃_2)&𝑎_4 𝑐𝑜𝑠(𝜃_3)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]

Matrix J
1.1134 0.0000 0.0000
-7.9221 0.0000 0.0000
0.5567 -3.6252 0.6946
-3.9611 1.6905 3.9392

Matrix J
3.4200 0.0000 0.0000
-7.2321 0.0000 0.0000
1.7100 -3.8600 -0.4377
-3.6161 1.0489 3.9760

Matrix J
2.1364 0.0000 0.0000
-7.7095 0.0000 0.0000
1.0682 -3.7883 0.1220
-3.8547 1.2839 3.9981

Matrix J
1.4365 0.0000 0.0000
-7.8700 0.0000 0.0000
0.7183 -3.7558 0.4482
-3.9350 1.3763 3.9748

Matrix J
1.2469 0.0000 0.0000
-7.9022 0.0000 0.0000
0.6235 -3.7464 0.5369
-3.9511 1.4016 3.9638

Matrix J
1.3459 0.0000 0.0000
-7.8860 0.0000 0.0000
0.6729 -3.7516 0.4928
-3.9430 1.3877 3.9695

Matrix J
1.3852 0.0000 0.0000
-7.8792 0.0000 0.0000
0.6926 -3.7536 0.4752
-3.9396 1.3821 3.9717

Matrix J
1.4024 0.0000 0.0000
-7.8761 0.0000 0.0000
0.7012 -3.7545 0.4675
-3.9381 1.3797 3.9726

Matrix J
1.4094 0.0000 0.0000
-7.8749 0.0000 0.0000
0.7047 -3.7549 0.4644
-3.9374 1.3787 3.9730
)& 〖−𝑎〗 _5 𝑐𝑜𝑠(𝜃_4))]
 Datos Ecuacion de Gobierno Mecanism
Dimensión
Puntos Dimensión Variable Posición
Adecuada
- 3 a1 3 𝑓_1 [𝑋 ⃑ ]=𝑎_2 cos⁡(𝜃_2 )+𝑎_3 cos(𝜃_3 )−𝑎_1 cos(𝜃_1 )−𝑎_
- 6 a2 6 𝑓_2 [𝑋 ⃑ ]=𝑎_2 sen⁡(𝜃_2 )+𝑎_3 sen(𝜃_3 )−𝑎_1 sen(𝜃_1 )−𝑎_4
- 11 a3 11
- 9 a4 9
- 10 Θ2 0.1745
- 30 Θ2 0.5236

Primera Iteración Vector f[X]

DX1 = 2.1174E-02 1.2132E+00 ° f1[X] = 0.0657
>>> >>>
Dx2 = 3.5837E-02 2.0533E+00 ° f2[X] = -0.1544

Segunda Iteración Vector f[X]

DX1 = 3.8129E-02 2.1846E+00 ° f1[X] = 0.0020
>>> >>>
Dx2 = 5.1160E-02 2.9312E+00 ° f2[X] = -0.2549

Tercera Iteración Vector f[X]

DX1 = 5.0496E-02 2.8932E+00 ° f1[X] = 0.0039
>>> >>>
Dx2 = 6.9236E-02 3.9669E+00 ° f2[X] = -0.3926

Cuarta Iteración Vector f[X]

DX1 = 6.3545E-02 3.6408E+00 ° f1[X] = 0.0078
>>> >>>
Dx2 = 9.0102E-02 5.1625E+00 ° f2[X] = -0.5898

Quinta Iteración Vector f[X]

DX1 = 7.6666E-02 4.3926E+00 ° f1[X] = 0.0147
>>> >>>
Dx2 = 1.1446E-01 6.5579E+00 ° f2[X] = -0.8672

Sexta Iteración Vector f[X]

DX1 = 8.9401E-02 5.1223E+00 ° f1[X] = 0.0271
>>> >>>
Dx2 = 1.4489E-01 8.3017E+00 ° f2[X] = -1.2581
Gobierno Mecanismo 2 Lazos Incógnitas Matrix Ja
Posición Variable Dimensión Matrix C
𝜃_3 )−𝑎_1 cos(𝜃_1 )−𝑎_4 cos(𝜃_4 ) =0 Θ3 277 𝐽[𝑋 ⃑]=[■8(−𝑎_3 sen(𝜃_3 )&𝑎_4 sen(
𝜃_3 )−𝑎_1 sen(𝜃_1 )−𝑎_4 sen(𝜃_4 ) =0 Θ4 293

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0657 Θ3 4.834562028 277
f2[X] = 0.1544 Θ4 5.113814708 293

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0020 Θ3 4.8557E+00 278.2131928
f2[X] = 0.2549 Θ4 5.1497E+00 295.0533004

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0039 Θ3 4.8939E+00 280.3977994
f2[X] = 0.3926 Θ4 5.2008E+00 297.9845318

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0078 Θ3 4.9444E+00 283.2910129
f2[X] = 0.5898 Θ4 5.2700E+00 301.9514369

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0147 Θ3 5.0079E+00 286.931861
f2[X] = 0.8672 Θ4 5.3601E+00 307.1139257

Vector f[X] Vector Incógnitas Mat

f1[X] = -0.0271 Θ3 5.0846E+00 291.3244738
f2[X] = 1.2581 Θ4 5.4746E+00 313.6718546
 Matrix Jacobiana
Matrix Calculada

−𝑎_3 sen(𝜃_3 )&𝑎_4 sen(𝜃_4 )@𝑎_3 cos(𝜃_3 )&𝑎_4 cos(𝜃_4 ) )]

Matrix J
10.9180 -8.2845
1.3406 3.5166

Matrix J
10.8872 -8.1532
1.5714 3.8112

Matrix J
10.8194 -7.9477
1.9853 4.2231

Matrix J
10.7054 -7.6365
2.5289 4.7628

Matrix J
10.5232 -7.1769
3.2036 5.4306

Matrix J
10.2469 -6.5098
4.0001 6.2147