Datos del Motor θ2 (gra) θ2 (rad) θ3 (gra) θ3 (rad)

Dato Unidad Valor 0 0.0000 -10.2417 -0.1788

M2 (kg) 1.2 15 0.2618 -6.4940 -0.1133
M3 (kg) 1.1 30 0.5236 -3.0270 -0.0528
M4 (kg) 1.8 45 0.7854 -0.0592 -0.0010
I1O (kgm/s^2) 0.01 60 1.0472 2.2176 0.0387
I2S (kgm/s^2) 0.17 75 1.3090 3.6504 0.0637
IMAQ (kgm/s^2) 0.1 90 1.5708 4.1396 0.0723
AS/AB (-) 0.38 105 1.8326 3.6504 0.0637
O1A/AB (-) 0.25 120 2.0944 2.2176 0.0387
DPISTÓN (mm) 180 135 2.3562 -0.0592 -0.0010
L=AB (mm) 224.97 150 2.6180 -3.0270 -0.0528
R=O1A (mm) 56.24 165 2.8798 -6.4940 -0.1133
H (mm) 180 180 3.1416 -10.2417 -0.1788
e (mm) 40 195 3.4034 -14.0343 -0.2449
n1 (rpm) 650 210 3.6652 -17.6256 -0.3076
Pmax (Mpa) 1.2 225 3.9270 -20.7671 -0.3625
μ (-) 0.15 240 4.1888 -23.2222 -0.4053
μs (m/mm) 0.045 255 4.4506 -24.7886 -0.4326
μp (Mpa/mm) 0.024 270 4.7124 -25.3274 -0.4420
285 4.9742 -24.7886 -0.4326
300 5.2360 -23.2222 -0.4053
315 5.4978 -17.6695 -0.3084
330 5.7596 -17.6256 -0.3076
345 6.0214 -14.0343 -0.2449
360 6.2832 -10.2417 -0.1788
θ3(°) + 180° θ3(°) + 180° (rad) d (mm) Valores
169.7583 2.9628 277.6254 K
173.5060 3.0283 277.8502 x
176.9730 3.0888 273.3614 a
179.9408 3.1406 264.7376 b
182.2176 3.1803 252.9215 c
183.6504 3.2053 239.0695 W2
184.1396 3.2138 224.3831
183.6504 3.2053 209.9576
182.2176 3.1803 196.6815
179.9408 3.1406 185.2022
176.9730 3.0888 175.9508
173.5060 3.0283 169.2028
169.7583 2.9628 165.1454
165.9657 2.8966 163.9311
162.3744 2.8340 165.7036
159.2329 2.7791 170.5859
156.7778 2.7363 178.6235
155.2114 2.7089 189.6854
154.6726 2.6995 203.3454
155.2114 2.7089 218.7974
156.7778 2.7363 234.8635
162.3305 2.8332 254.1243
162.3744 2.8340 263.1141
165.9657 2.8966 272.5784
169.7583 2.9628 277.6254
Datos
0.36
101.2
56.24
224.97
40
104.72
 a b ω2(rad/s) θ3(°) ϑ3(rad) θ2(°) θ2(rad) SEN(θ2) COS(θ2)
56.2400 224.9700 104.7200 169.7583 2.9628 0 0.0000 0.0000 1.0000
56.2400 224.9700 104.7200 173.5060 3.0283 15 0.2618 0.2588 0.9659
56.2400 224.9700 104.7200 176.9730 3.0888 30 0.5236 0.5000 0.8660
56.2400 224.9700 104.7200 179.9408 3.1406 45 0.7854 0.7071 0.7071
56.2400 224.9700 104.7200 182.2176 3.1803 60 1.0472 0.8660 0.5000
56.2400 224.9700 104.7200 183.6504 3.2053 75 1.3090 0.9659 0.2588
56.2400 224.9700 104.7200 184.1396 3.2138 90 1.5708 1.0000 0.0000
56.2400 224.9700 104.7200 183.6504 3.2053 105 1.8326 0.9659 -0.2588
56.2400 224.9700 104.7200 182.2176 3.1803 120 2.0944 0.8660 -0.5000
56.2400 224.9700 104.7200 179.9408 3.1406 135 2.3562 0.7071 -0.7071
56.2400 224.9700 104.7200 176.9730 3.0888 150 2.6180 0.5000 -0.8660
56.2400 224.9700 104.7200 173.5060 3.0283 165 2.8798 0.2588 -0.9659
56.2400 224.9700 104.7200 169.7583 2.9628 180 3.1416 0.0000 -1.0000
56.2400 224.9700 104.7200 165.9657 2.8966 195 3.4034 -0.2588 -0.9659
56.2400 224.9700 104.7200 162.3744 2.8340 210 3.6652 -0.5000 -0.8660
56.2400 224.9700 104.7200 159.2329 2.7791 225 3.9270 -0.7071 -0.7071
56.2400 224.9700 104.7200 156.7778 2.7363 240 4.1888 -0.8660 -0.5000
56.2400 224.9700 104.7200 155.2114 2.7089 255 4.4506 -0.9659 -0.2588
56.2400 224.9700 104.7200 154.6726 2.6995 270 4.7124 -1.0000 0.0000
56.2400 224.9700 104.7200 155.2114 2.7089 285 4.9742 -0.9659 0.2588
56.2400 224.9700 104.7200 156.7778 2.7363 300 5.2360 -0.8660 0.5000
56.2400 224.9700 104.7200 162.3305 2.8332 315 5.4978 -0.7071 0.7071
56.2400 224.9700 104.7200 162.3744 2.8340 330 5.7596 -0.5000 0.8660
56.2400 224.9700 104.7200 165.9657 2.8966 345 6.0214 -0.2588 0.9659
56.2400 224.9700 104.7200 169.7583 2.9628 360 6.2832 0.0000 1.0000
a*cosθ2 a*sen(θ2) W3(rad/s) d(mm) Va(m/s) Vba(m/s)
56.2400 0.0000 26.6027 1064.1086 5.8895 5.9848
54.3237 14.5560 -25.4501 -2171.8556 5.8895 5.7255
48.7053 28.1200 -22.7032 -3214.4406 5.8895 5.1075
39.7677 39.7677 -18.5112 -4168.7724 5.8895 4.1645
28.1200 48.7053 -13.0992 -4986.3834 5.8895 2.9469
14.5560 54.3237 -6.7894 -5591.5261 5.8895 1.5274
0.0000 56.2400 0.0000 -5889.4528 5.8895 0.0000
-14.5560 54.3237 6.7894 -5786.0231 5.8895 1.5274
-28.1200 48.7053 13.0992 -5214.4480 5.8895 2.9469
-39.7677 39.7677 18.5112 -4160.1716 5.8895 4.1645
-48.7053 28.1200 22.7032 -2675.0122 5.8895 5.1075
-54.3237 14.5560 25.4501 -876.7495 5.8895 5.7255
-56.2400 0.0000 26.6027 1064.1086 5.8895 5.9848
-54.3237 -14.5560 26.0648 2946.2952 5.8895 5.8638
-48.7053 -28.1200 23.7883 4565.1832 5.8895 5.3516
-39.7677 -39.7677 19.7975 5743.6718 5.8895 4.4538
-28.1200 -48.7053 14.2434 6363.8786 5.8895 3.2043
-14.5560 -54.3237 7.4632 6392.7347 5.8895 1.6790
0.0000 -56.2400 0.0000 5889.4528 5.8895 0.0000
14.5560 -54.3237 -7.4632 4984.8144 5.8895 1.6790
28.1200 -48.7053 -14.2434 3836.9528 5.8895 3.2043
39.7677 -39.7677 -19.4278 2837.8606 5.8895 4.3707
48.7053 -28.1200 -23.7883 1324.2696 5.8895 5.3516
54.3237 -14.5560 -26.0648 102.3099 5.8895 5.8638
56.2400 0.0000 -26.6027 -1064.1086 5.8895 5.9848
Vc(mm/s)
-2.1666
-2.3858
5.5203
-2.4470
0.3838
1.6128
0.0000
-1.4151
0.3529
3.9193
-3.3087
5.1509
0.8256
-1.5926
5.6281
-2.9322
1.3531
1.7139
0.0000
-1.4966
-0.5521
-2.9796
-3.3109
4.4244
2.1666
 a b W2 θ2(°) θ2(rad) θ3(°) ϑ3(rad)
56.2400 224.9700 104.7200 0.0000 0.0000 169.7583 2.9628
56.2400 224.9700 104.7200 15.0000 0.2618 173.5060 3.0283
56.2400 224.9700 104.7200 30.0000 0.5236 176.9730 3.0888
56.2400 224.9700 104.7200 45.0000 0.7854 179.9408 3.1406
56.2400 224.9700 104.7200 60.0000 1.0472 182.2176 3.1803
56.2400 224.9700 104.7200 75.0000 1.3090 183.6504 3.2053
56.2400 224.9700 104.7200 90.0000 1.5708 184.1396 3.2138
56.2400 224.9700 104.7200 105.0000 1.8326 183.6504 3.2053
56.2400 224.9700 104.7200 120.0000 2.0944 182.2176 3.1803
56.2400 224.9700 104.7200 135.0000 2.3562 179.9408 3.1406
56.2400 224.9700 104.7200 150.0000 2.6180 176.9730 3.0888
56.2400 224.9700 104.7200 165.0000 2.8798 173.5060 3.0283
56.2400 224.9700 104.7200 180.0000 3.1416 169.7583 2.9628
56.2400 224.9700 104.7200 195.0000 3.4034 165.9657 2.8966
56.2400 224.9700 104.7200 210.0000 3.6652 162.3744 2.8340
56.2400 224.9700 104.7200 225.0000 3.9270 159.2329 2.7791
56.2400 224.9700 104.7200 240.0000 4.1888 156.7778 2.7363
56.2400 224.9700 104.7200 255.0000 4.4506 155.2114 2.7089
56.2400 224.9700 104.7200 270.0000 4.7124 154.6726 2.6995
56.2400 224.9700 104.7200 285.0000 4.9742 155.2114 2.7089
56.2400 224.9700 104.7200 300.0000 5.2360 156.7778 2.7363
56.2400 224.9700 104.7200 315.0000 5.4978 162.3305 2.8332
56.2400 224.9700 104.7200 330.0000 5.7596 162.3744 2.8340
56.2400 224.9700 104.7200 345.0000 6.0214 165.9657 2.8966
56.2400 224.9700 104.7200 360.0000 6.2832 169.7583 2.9628
(ω2)^2*a*senϑ2 ω3(rad/s) (ω3)^2*b*senϑ3 b*cosϑ3 α3(rad/ s2)
0.0000 26.6027 28308.1755 -221.3854 -127.8683
159624.9630 -25.4501 16480.2968 -223.5265 -787.8495
308371.7486 -22.7032 6123.3789 -224.6561 -1399.8957
436103.5091 -18.5112 79.6063 -224.9699 -1938.8512
534115.5362 -13.0992 -1493.7353 -224.8015 -2369.2981
595728.4722 -6.7894 -660.2547 -224.5135 -2650.4780
616743.4972 0.0000 0.0000 -224.3831 -2748.6186
595728.4722 6.7894 -660.2547 -224.5135 -2650.4780
534115.5362 13.0992 -1493.7353 -224.8015 -2369.2981
436103.5091 18.5112 79.6063 -224.9699 -1938.8512
308371.7486 22.7032 6123.3789 -224.6561 -1399.8957
159624.9630 25.4501 16480.2968 -223.5265 -787.8495
0.0000 26.6027 28308.1755 -221.3854 -127.8683
-159624.9630 26.0648 37064.0042 -218.2548 561.5500
-308371.7486 23.7883 38547.8597 -214.4089 1258.4548
-436103.5091 19.7975 31264.1900 -210.3536 1924.5661
-534115.5362 14.2434 17995.9829 -206.7435 2496.4245
-595728.4722 7.4632 5253.8239 -204.2414 2891.0626
-616743.4972 0.0000 0.0000 -203.3454 3032.9843
-595728.4722 -7.4632 5253.8239 -204.2414 2891.0626
-534115.5362 -14.2434 17995.9829 -206.7435 2496.4245
-436103.5091 -19.4278 25773.1076 -214.3566 1914.2418
-308371.7486 -23.7883 38547.8597 -214.4089 1258.4548
-159624.9630 -26.0648 37064.0042 -218.2548 561.5500
0.0000 -26.6027 28308.1755 -221.3854 -127.8683
(ω2)^2*a*cosϑ2 α3*b*senϑ3 (ω3)^2*b*cosϑ3 d(m/s^2)
616743.4972 -5114.7319 -156675.4281 -778.5337
595728.4722 -20046.0568 -144779.9426 -760.5545
534115.5362 -16630.7614 -115795.8314 -666.5421
436103.5091 -450.4235 -77089.5514 -513.6435
308371.7486 20625.3770 -38573.6446 -326.3200
159624.9630 37964.5679 -10349.0336 -132.0094
0.0000 44637.5668 0.0000 44.6376
-159624.9630 37964.5679 -10349.0336 187.2405
-308371.7486 20625.3770 -38573.6446 290.4235
-436103.5091 -450.4235 -77089.5514 358.5635
-534115.5362 -16630.7614 -115795.8314 401.6889
-595728.4722 -20046.0568 -144779.9426 430.9025
-616743.4972 -5114.7319 -156675.4281 454.9533
-595728.4722 30635.9102 -148276.9686 478.0874
-534115.5362 85725.9437 -121330.0545 498.5114
-436103.5091 153518.1839 -82446.0861 507.1756
-308371.7486 221446.0087 -41942.8588 487.8749
-159624.9630 272695.6287 -11376.2359 420.9444
0.0000 291894.4114 0.0000 291.8944
159624.9630 272695.6287 -11376.2359 101.6944
308371.7486 221446.0087 -41942.8588 -128.8686
436103.5091 130712.6080 -80906.4231 -386.2973
534115.5362 85725.9437 -121330.0545 -569.7196
595728.4722 30635.9102 -148276.9686 -713.3695
616743.4972 -5114.7319 -156675.4281 -778.5337
AA(m/s2) ABA(m/s2)
616.7435 161.7902
616.7435 229.4510
616.7435 335.6038
616.7435 442.9432
616.7435 534.4170
616.7435 596.3682
616.7435 618.3567
616.7435 596.3682
616.7435 534.4170
616.7435 442.9432
616.7435 335.6038
616.7435 229.4510
616.7435 161.7902
616.7435 198.2916
616.7435 310.4203
616.7435 441.8569
616.7435 563.4721
616.7435 650.5230
616.7435 682.3305
616.7435 650.5230
616.7435 563.4721
616.7435 438.9384
616.7435 310.4203
616.7435 198.2916
616.7435 161.7902
 a(mm) b(mm) θ2(°) θ2(rad) θ3(rad) θ3(°) ω2(rad/s) ω3(rad/s) a2(rad/s2)
56.2400 224.9700 0 0.0000 2.9628 169.7583 104.7200 26.6027 0
56.2400 224.9700 15 0.2618 3.0283 173.5060 104.7200 25.4501 0
56.2400 224.9700 30 0.5236 3.0888 176.9730 104.7200 22.7032 0
56.2400 224.9700 45 0.7854 3.1406 179.9408 104.7200 18.5112 0
56.2400 224.9700 60 1.0472 3.1803 182.2176 104.7200 13.0992 0
56.2400 224.9700 75 1.3090 3.2053 183.6504 104.7200 6.7894 0
56.2400 224.9700 90 1.5708 3.2138 184.1396 104.7200 0.0000 0
56.2400 224.9700 105 1.8326 3.2053 183.6504 104.7200 -6.7894 0
56.2400 224.9700 120 2.0944 3.1803 182.2176 104.7200 -13.0992 0
56.2400 224.9700 135 2.3562 3.1406 179.9408 104.7200 -18.5112 0
56.2400 224.9700 150 2.6180 3.0888 176.9730 104.7200 -22.7032 0
56.2400 224.9700 165 2.8798 3.0283 173.5060 104.7200 -25.4501 0
56.2400 224.9700 180 3.1416 2.9628 169.7583 104.7200 -26.6027 0
56.2400 224.9700 195 3.4034 2.8966 165.9657 104.7200 -26.0648 0
56.2400 224.9700 210 3.6652 2.8340 162.3744 104.7200 -23.7883 0
56.2400 224.9700 225 3.9270 2.7791 159.2329 104.7200 -19.7975 0
56.2400 224.9700 240 4.1888 2.7363 156.7778 104.7200 -14.2434 0
56.2400 224.9700 255 4.4506 2.7089 155.2114 104.7200 -7.4632 0
56.2400 224.9700 270 4.7124 2.6995 154.6726 104.7200 0.0000 0
56.2400 224.9700 285 4.9742 2.7089 155.2114 104.7200 7.4632 0
56.2400 224.9700 300 5.2360 2.7363 156.7778 104.7200 14.2434 0
56.2400 224.9700 315 5.4978 2.8332 162.3305 104.7200 19.4278 0
56.2400 224.9700 330 5.7596 2.8340 162.3744 104.7200 23.7883 0
56.2400 224.9700 345 6.0214 2.8966 165.9657 104.7200 26.0648 0
56.2400 224.9700 360 6.2832 2.9628 169.7583 104.7200 26.6027 0
a3(rad/s2) aGx aGy aG (m/s2)
-127.8683 550.8202 -13.6185 550.9886
-787.8495 528.5682 144.7419 548.0279
-1399.8957 480.1568 299.1003 565.6956
-1938.8512 404.5090 435.8875 594.6641
-2369.2981 301.0585 543.1282 620.9867
-2650.4780 170.8772 611.4666 634.8940
-2748.6186 18.1881 634.9316 635.1920
-2650.4780 -148.3727 611.4666 629.2105
-2369.2981 -315.6850 543.1282 628.2080
-1938.8512 -467.6981 435.8875 639.3273
-1399.8957 -588.0743 299.1003 659.7669
-787.8495 -662.8887 144.7419 678.5069
-127.8683 -682.6667 -13.6185 682.8026
561.5500 -643.6627 -162.2442 663.7957
1258.4548 -548.6228 -289.1485 620.1563
1924.5661 -407.1444 -386.2897 561.2364
2496.4245 -235.2311 -451.2175 508.8525
2891.0626 -53.1474 -486.7562 489.6492
3032.9843 118.9357 -497.8078 511.8186
2891.0626 266.1025 -486.7562 554.7452
2496.4245 381.5124 -451.2175 590.8882
1914.2418 456.3976 -393.3447 602.5104
1258.4548 519.6082 -289.1485 594.6424
561.5500 547.7943 -162.2442 571.3158
-127.8683 550.8202 -13.6185 550.9886
 Calculo de Matriz Pistón centrado en el eje x
0 Matriz
1 0 1 0
0 1 0 1
0 0 0 0.05624
0 0 -1 0
0 0 0 -1
0 0 0.0000 0.07499
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1
0 1 0 -1.077E-15
0 0 0 -1
0 0 0 1.077E-15
0 0 0 4.8466E-17
0 0 0 1.077E-15
0 0 0 1.077E-15
0 0 1 -6.057E-17

15
1 0 1 0
0 1 0 1
0 0 -0.0146 0.0543
0 0 -1 0
0 0 0 -1
0 0 0.0049 0.0748
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9990
0 1 0 -0.0215
0 0 0 -0.9990
0 0 0 0.0215
0 0 0 0.0010
0 0 0 0.0215
0 0 0 0.0215
0 0 1 -0.0157

30 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0281 0.0487
 0 0 -1 0
0 0 0 -1
0 0 0.0094 0.0744
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9981
0 1 0 -0.0418
0 0 0 -0.9981
0 0 0 0.0418
0 0 0 0.0019
0 0 0 0.0418
0 0 0 0.0418
0 0 1 -0.0301

45 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0398 0.0398
0 0 -1 0
0 0 0 -1
0 0 0.0133 0.0738
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9973
0 1 0 -0.0594
0 0 0 -0.9973
0 0 0 0.0594
0 0 0 0.0027
0 0 0 0.0594
0 0 0 0.0594
0 0 1 -0.0420

60 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0487 0.0281
0 0 -1 0
0 0 0 -1
0 0 0.0162 0.0732
 0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9967
0 1 0 -0.0732
0 0 0 -0.9967
0 0 0 0.0732
0 0 0 0.0033
0 0 0 0.0732
0 0 0 0.0732
0 0 1 -0.0506

75 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0543 0.0146
0 0 -1 0
0 0 0 -1
0 0 0.0181 0.0728
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9963
0 1 0 -0.0820
0 0 0 -0.9963
0 0 0 0.0820
0 0 0 0.0037
0 0 0 0.0820
0 0 0 0.0820
0 0 1 -0.0553

90 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0562 0.0000
0 0 -1 0
0 0 0 -1
0 0 0.0187 0.0726
0 0 0 0
0 0 0 0
 Matriz inversa
1 0 0 0.9962
0 1 0 -0.0851
0 0 0 -0.9962
0 0 0 0.0851
0 0 0 0.0038
0 0 0 0.0851
0 0 0 0.0851
0 0 1 -0.0560

105 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0543 -0.0146
0 0 -1 0
0 0 0 -1
0 0 0.0181 0.0728
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9963
0 1 0 -0.0820
0 0 0 -0.9963
0 0 0 0.0820
0 0 0 0.0037
0 0 0 0.0820
0 0 0 0.0820
0 0 1 -0.0529

120 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0487 -0.0281
0 0 -1 0
0 0 0 -1
0 0 0.0162 0.0732
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9967
0 1 0 -0.0732
 0 0 0 -0.9967
0 0 0 0.0732
0 0 0 0.0033
0 0 0 0.0732
0 0 0 0.0732
0 0 1 -0.0465

135 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0398 -0.0398
0 0 -1 0
0 0 0 -1
0 0 0.0133 0.0738
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9973
0 1 0 -0.0594
0 0 0 -0.9973
0 0 0 0.0594
0 0 0 0.0027
0 0 0 0.0594
0 0 0 0.0594
0 0 1 -0.0373

150 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0281 -0.0487
0 0 -1 0
0 0 0 -1
0 0 0.0094 0.0744
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9981
0 1 0 -0.0418
0 0 0 -0.9981
0 0 0 0.0418
0 0 0 0.0019
 0 0 0 0.0418
0 0 0 0.0418
0 0 1 -0.0260

165 Matriz
1 0 1 0
0 1 0 1
0 0 -0.0146 -0.0543
0 0 -1 0
0 0 0 -1
0 0 0.0049 0.0748
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 0.9990
0 1 0 -0.0215
0 0 0 -0.9990
0 0 0 0.0215
0 0 0 0.0010
0 0 0 0.0215
0 0 0 0.0215
0 0 1 -0.0134

180 Matriz
1 0 1 0
0 1 0 1
0 0 0.0000 -0.0562
0 0 -1 0
0 0 0 -1
0 0 0.0000 0.0750
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0000
0 1 0 0.0000
0 0 0 -1.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 1 0.0000
195 Matriz
1 0 1 0
0 1 0 1
0 0 0.0146 -0.0543
0 0 -1 0
0 0 0 -1
0 0 -0.0049 0.0748
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0010
0 1 0 0.0217
0 0 0 -1.0010
0 0 0 -0.0217
0 0 0 -0.0010
0 0 0 -0.0217
0 0 0 -0.0217
0 0 1 0.0134

210 Matriz
1 0 1 0
0 1 0 1
0 0 0.0281 -0.0487
0 0 -1 0
0 0 0 -1
0 0 -0.0094 0.0744
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0019
0 1 0 0.0422
0 0 0 -1.0019
0 0 0 -0.0422
0 0 0 -0.0019
0 0 0 -0.0422
0 0 0 -0.0422
0 0 1 0.0261

225 Matriz
 1 0 1 0
0 1 0 1
0 0 0.0398 -0.0398
0 0 -1 0
0 0 0 -1
0 0 -0.0133 0.0738
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0027
0 1 0 0.0604
0 0 0 -1.0027
0 0 0 -0.0604
0 0 0 -0.0027
0 0 0 -0.0604
0 0 0 -0.0604
0 0 1 0.0375

240 Matriz
1 0 1 0
0 1 0 1
0 0 0.0487 -0.0281
0 0 -1 0
0 0 0 -1
0 0 -0.0162 0.0732
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0034
0 1 0 0.0747
0 0 0 -1.0034
0 0 0 -0.0747
0 0 0 -0.0034
0 0 0 -0.0747
0 0 0 -0.0747
0 0 1 0.0468

255 Matriz
1 0 1 0
0 1 0 1
0 0 0.0543 -0.0146
 0 0 -1 0
0 0 0 -1
0 0 -0.0181 0.0728
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0038
0 1 0 0.0839
0 0 0 -1.0038
0 0 0 -0.0839
0 0 0 -0.0038
0 0 0 -0.0839
0 0 0 -0.0839
0 0 1 0.0533

270 Matriz
1 0 1 0
0 1 0 1
0 0 0.0562 0.0000
0 0 -1 0
0 0 0 -1
0 0 -0.0187 0.0726
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0039
0 1 0 0.0871
0 0 0 -1.0039
0 0 0 -0.0871
0 0 0 -0.0039
0 0 0 -0.0871
0 0 0 -0.0871
0 0 1 0.0565

285 Matriz
1 0 1 0
0 1 0 1
0 0 0.0543 0.0146
0 0 -1 0
0 0 0 -1
0 0 -0.0181 0.0728
 0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0038
0 1 0 0.0839
0 0 0 -1.0038
0 0 0 -0.0839
0 0 0 -0.0038
0 0 0 -0.0839
0 0 0 -0.0839
0 0 1 0.0557

300 Matriz
1 0 1 0
0 1 0 1
0 0 0.0487 0.0281
0 0 -1 0
0 0 0 -1
0 0 -0.0162 0.0732
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0034
0 1 0 0.0747
0 0 0 -1.0034
0 0 0 -0.0747
0 0 0 -0.0034
0 0 0 -0.0747
0 0 0 -0.0747
0 0 1 0.0510

315 Matriz
1 0 1 0
0 1 0 1
0 0 0.0398 0.0398
0 0 -1 0
0 0 0 -1
0 0 -0.0133 0.0738
0 0 0 0
0 0 0 0
 Matriz inversa
1 0 0 1.0027
0 1 0 0.0604
0 0 0 -1.0027
0 0 0 -0.0604
0 0 0 -0.0027
0 0 0 -0.0604
0 0 0 -0.0604
0 0 1 0.0423

330 Matriz
1 0 1 0
0 1 0 1
0 0 0.0281 0.0487
0 0 -1 0
0 0 0 -1
0 0 0.0000 0.0744
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0000
0 1 0 0.0000
0 0 0 -1.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 1 0.0281

345 Matriz
1 0 1 0
0 1 0 1
0 0 0.0146 0.0543
0 0 -1 0
0 0 0 -1
0 0 -0.0049 0.0748
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0010
0 1 0 0.0217
 0 0 0 -1.0010
0 0 0 -0.0217
0 0 0 -0.0010
0 0 0 -0.0217
0 0 0 -0.0217
0 0 1 0.0157

360 Matriz
1 0 1 0
0 1 0 1
0 0 0.0000 0.0562
0 0 -1 0
0 0 0 -1
0 0 0.0000 0.0750
0 0 0 0
0 0 0 0

Matriz inversa
1 0 0 1.0000
0 1 0 0.0000
0 0 0 -1.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 0 0.0000
0 0 1 0.0000
 Matriz Conocida Resultado
0 0 0 0 661 F12X
0 0 0 0 -16 F12Y
0 0 0 1 0 F32X
1 0 0 0 605.9023 F32Y
0 1 0 0 -15 F43X
0.00 0.1500 0 0 -22 F43Y
-1 0 0.045 0 -24.5134 F14Y
0 -1 1 0 0 T12

-0.0150 -0.2000 1 -0.045

0.6667 -4.4450 -9.137E-16 0
0.0150 0.2000 -1 0.045
-0.6667 4.4450 9.1374E-16 0
0.0150 0.2000 -1 0.045
0.3333 4.4450 9.1374E-16 0
0.3333 4.4450 9.1374E-16 1
0.0375 -0.2500 -5.139E-17 0

Matriz Conocida
0 0 0 0  m2 a G2 X  634
 
0 0 0 0  m2 a G2 Y  174
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 581.4251

0 1 0 0  m3 a G3Y 
159.2161
 
0.0097 0.1497 0 0  I G3  3 -133.9344

-1 0 0.045 0 m a  F 
PX951.4228
 4 G4 X 
0 -1 1 0   FPY  0

-0.0150 -0.1999 0.9971 -0.0449

0.6676 -4.4414 -0.0646 0.0029
0.0150 0.1999 -0.9971 0.0449
-0.6676 4.4414 0.0646 -0.0029
0.0150 0.1999 -0.9971 0.0449
0.3324 4.4414 0.0646 -0.0029
0.3324 4.4414 0.0646 0.9971
0.0365 -0.2384 -0.0180 0.0008

Matriz Conocida
0 0 0 0  m2 a G2 X  576
 
0 0 0 0  m2 a G2 Y  359
0 0 0 1  I G2  2  0
 
 m3 a G3 X 
 m3 a G3Y 
 
 I G3  3 
m 
4 a G4 X  FPX
  m2 a G2 X 
 m2 a G2 Y 
 
 I G2  2 
 
1 0 0 0  m a
3 G3 X 528.1725

0 1 0 0  m3 a G3Y 
329.0103
 
0.0187 0.1488 0 0  I G3  3 -237.9823

m a  F 
-1 0 0.045 0  4 G4 X PX864.2823

0 -1 1 0   FPY  0

-0.0149 -0.2005 0.9944 -0.0447

0.6685 -4.4549 -0.1253 0.0056
0.0149 0.2005 -0.9944 0.0447
-0.6685 4.4549 0.1253 -0.0056
0.0149 0.2005 -0.9944 0.0447
0.3315 4.4549 0.1253 -0.0056
0.3315 4.4549 0.1253 0.9944
0.0330 -0.2113 -0.0341 0.0015

Matriz Conocida
0 0 0 0  m2 a G2 X  485
 
0 0 0 0  m2 a G2 Y  523
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 444.9599

0 1 0 0  m3 a G3Y 
479.4763
 
0.0265 0.1476 0 0  I G3  3 -329.6047

m a  F 
-1 0 0.045 0  4 G4 X PX728.1161

0 -1 1 0   FPY  0

-0.0149 -0.2016 0.9920 -0.0446

0.6693 -4.4799 -0.1782 0.0080
0.0149 0.2016 -0.9920 0.0446
-0.6693 4.4799 0.1782 -0.0080
0.0149 0.2016 -0.9920 0.0446
0.3307 4.4799 0.1782 -0.0080
0.3307 4.4799 0.1782 0.9920
0.0272 -0.1701 -0.0465 0.0021

Matriz Conocida
0 0 0 0  m2 a G2 X  361
 
0 0 0 0  m a
2 G2 Y  652
0 0 0 1  I G2  2  0
 
1 0 0 0  m 3 a G3X
331.1644

0 1 0 0  m3 a G3Y 
597.4410
 
0.0325 0.1464 0 0  I G3  3 -402.7807

m a  F 
 4 G4 X PX

  FPY 
  I G2  2 
 
 m3 a G3 X 
 m3 a G3Y 
 
 I G3  3 
m a  F 
-1 0 0.045 0  4 G4 X PX541.9053

0 -1 1 0   FPY  0

-0.0149 -0.2029 0.9901 -0.0446

0.6700 -4.5080 -0.2196 0.0099
0.0149 0.2029 -0.9901 0.0446
-0.6700 4.5080 0.2196 -0.0099
0.0149 0.2029 -0.9901 0.0446
0.3300 4.5080 0.2196 -0.0099
0.3300 4.5080 0.2196 0.9901
0.0196 -0.1169 -0.0544 0.0024

Matriz Conocida
0 0 0 0  m 2 a G2 X  205
 
0 0 0 0  m a
2 G2 Y  734
0 0 0 1  I G2  2  0
 
1 0 0 0  m3 a G3 X 187.9650

 m3 a G3Y 
0 1 0 0  672.6133

0.0362 0.1455 0 0  I G3  3 -450.5813

m a  F 
-1 0 0.045 0  4 G4 X PX307.5790

  FPY 
0 -1 1 0 0

-0.0148 -0.2038 0.9889 -0.0445

0.6704 -4.5299 -0.2461 0.0111
0.0148 0.2038 -0.9889 0.0445
-0.6704 4.5299 0.2461 -0.0111
0.0148 0.2038 -0.9889 0.0445
0.3296 4.5299 0.2461 -0.0111
0.3296 4.5299 0.2461 0.9889
0.0106 -0.0549 -0.0573 0.0026

Matriz Conocida
0 0 0 0  m 2 a G2 X  22
 
0 0 0 0  m a
2 G2 Y  762
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 20.0069
 m3 a G3Y 
0 1 0 0  698.4247

0.0375 0.1452 0 0  I G3  3 -467.2652

m a  F 
-1 0 0.045 0  4 G4 X PX 32.7386

  FPY 
0 -1 1 0 0
-0.0148 -0.2042 0.9885 -0.0445
0.6705 -4.5381 -0.2552 0.0115
0.0148 0.2042 -0.9885 0.0445
-0.6705 4.5381 0.2552 -0.0115
0.0148 0.2042 -0.9885 0.0445
0.3295 4.5381 0.2552 -0.0115
0.3295 4.5381 0.2552 0.9885
0.0008 0.0115 -0.0556 0.0025

Matriz Conocida
0 0 0 0  m 2 a G2 X  -178
 
0 0 0 0  m a
2 G2 Y  734
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -163.2100

 m3 a G3Y 
0 1 0 0  672.6133

0.0362 0.1455 0 0  I G3  3 -450.5813

m a  F 
-1 0 0.045 0  4 G4 X P-267.0709
X

  FPY 
0 -1 1 0 0

-0.0148 -0.2038 0.9889 -0.0445

0.6704 -4.5299 -0.2461 0.0111
0.0148 0.2038 -0.9889 0.0445
-0.6704 4.5299 0.2461 -0.0111
0.0148 0.2038 -0.9889 0.0445
0.3296 4.5299 0.2461 -0.0111
0.3296 4.5299 0.2461 0.9889
-0.0090 0.0770 -0.0501 0.0023

Matriz Conocida
0 0 0 0  m 2 a G2 X  -379
 
0 0 0 0  m 2 a G2 Y  652
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -347.2535

 m3 a G3Y 
0 1 0 0  597.4410

0.0325 0.1464 0 0  I G3  3 -402.7807

m a 
-1 0 0.045 0 4 G4 X  FP-568.2330
 X

  FPY 
0 -1 1 0 0

-0.0149 -0.2029 0.9901 -0.0446

0.6700 -4.5080 -0.2196 0.0099
 0.0149 0.2029 -0.9901 0.0446
-0.6700 4.5080 0.2196 -0.0099
0.0149 0.2029 -0.9901 0.0446
0.3300 4.5080 0.2196 -0.0099
0.3300 4.5080 0.2196 0.9901
-0.0181 0.1366 -0.0420 0.0019

Matriz Conocida
0 0 0 0  m 2 a G2 X  -561
 
0 0 0 0  m 2 a G2 Y  523
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -514.4679

 m3 a G3Y 
0 1 0 0  479.4763

0.0265 0.1476 0 0  I G3  3 -329.6047

m a 
-1 0 0.045 0 4 G4 X  FP-841.8565
 X

  FPY 
0 -1 1 0 0

-0.0149 -0.2016 0.9920 -0.0446

0.6693 -4.4799 -0.1782 0.0080
0.0149 0.2016 -0.9920 0.0446
-0.6693 4.4799 0.1782 -0.0080
0.0149 0.2016 -0.9920 0.0446
0.3307 4.4799 0.1782 -0.0080
0.3307 4.4799 0.1782 0.9920
-0.0260 0.1862 -0.0324 0.0015

Matriz Conocida
0 0 0 0  m 2 a G2 X  -706
 
0 0 0 0  m 2 a G2 Y  359
0 0 0 1  I G2  2  0
 
1 0 0 0  m 3 a G3X -646.8817

 m3 a G3Y 
0 1 0 0  329.0103

0.0187 0.1488 0 0  I G3  3 -237.9823

m a 
-1 0 0.045 0 4 G4 X  F-1058.5337
 PX

  FPY 
0 -1 1 0 0

-0.0149 -0.2005 0.9944 -0.0447

0.6685 -4.4549 -0.1253 0.0056
0.0149 0.2005 -0.9944 0.0447
-0.6685 4.4549 0.1253 -0.0056
0.0149 0.2005 -0.9944 0.0447
 0.3315 4.4549 0.1253 -0.0056
0.3315 4.4549 0.1253 0.9944
-0.0321 0.2226 -0.0219 0.0010

Matriz Conocida
0 0 0 0  m 2 a G2 X  -795
 m 2 a G2 Y 
0 0 0 0   174
0 0 0 1  I G2  2  0
 
1 0 0 0  m 3 a G3X -729.1776

 m3 a G3Y 
0 1 0 0  159.2161

0.0097 0.1497 0 0  I G3  3 -133.9344

m a 
-1 0 0.045 0 4 G4 X  F-1193.1997
 PX

  FPY 
0 -1 1 0 0

-0.0150 -0.1999 0.9971 -0.0449

0.6676 -4.4414 -0.0646 0.0029
0.0150 0.1999 -0.9971 0.0449
-0.6676 4.4414 0.0646 -0.0029
0.0150 0.1999 -0.9971 0.0449
0.3324 4.4414 0.0646 -0.0029
0.3324 4.4414 0.0646 0.9971
-0.0361 0.2442 -0.0110 0.0005

Matriz Conocida
0 0 0 0  m 2 a G2 X  -819
 
0 0 0 0  m a
2 G2 Y  -16
0 0 0 1  I G2  2  0
 
1 0 0 0  m3 a G3 X -750.9334

 m3 a G3Y 
0 1 0 0  -14.9804

0.0000 0.1500 0 0  I G3  3 
-21.7376
m a  F 
-1 0 0.045 0  4 G4 X -1228.8001
PX

  FPY 
0 -1 1 0 0

-0.0150 -0.2000 1.0000 -0.0450

0.6667 -4.4450 0.0000 0.0000
0.0150 0.2000 -1.0000 0.0450
-0.6667 4.4450 0.0000 0.0000
0.0150 0.2000 -1.0000 0.0450
0.3333 4.4450 0.0000 0.0000
0.3333 4.4450 0.0000 1.0000
-0.0375 0.2500 0.0000 0.0000
 Matriz Conocida
0 0 0 0  m 2 a G2 X  -772
 m a 
0 0 0 0  2 G2 Y  -195
0 0 0 1  I G2  2  0
 
1 0 0 0  m3 a G3 X -708.0289

 
m3 a G3Y -178.4686
0 1 0 0  
-0.0097 0.1497 0 0  I G3  3 95.4635
m a  F 
-1 0 0.045 0  4 G4 X -1158.5928
PX

  FPY 
0 -1 1 0 0

-0.0150 -0.2010 1.0029 -0.0451

0.6657 -4.4674 0.0650 -0.0029
0.0150 0.2010 -1.0029 0.0451
-0.6657 4.4674 -0.0650 0.0029
0.0150 0.2010 -1.0029 0.0451
0.3343 4.4674 -0.0650 0.0029
0.3343 4.4674 -0.0650 1.0029
-0.0364 0.2398 0.0111 -0.0005

Matriz Conocida
0 0 0 0  m 2 a G2 X  -658
 
0 0 0 0  m a
2 G2 Y  -347
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -603.4851

 
m3 a G3Y -346.9782
0 1 0 0  
-0.0187 0.1488 0 0  I G3  3 
213.9373
m a  F 
-1 0 0.045 0  4 G4 X P-987.5211
X

  FPY 
0 -1 1 0 0

-0.0151 -0.2028 1.0057 -0.0453

0.6648 -4.5057 0.1267 -0.0057
0.0151 0.2028 -1.0057 0.0453
-0.6648 4.5057 -0.1267 0.0057
0.0151 0.2028 -1.0057 0.0453
0.3352 4.5057 -0.1267 0.0057
0.3352 4.5057 -0.1267 1.0057
-0.0328 0.2138 0.0221 -0.0010

Matriz Conocida
 m 2 a G2 X 
 m 2 a G2 Y 
 
 I G2  2 
 
 m3 a G3 X 
 0 0 0 0  m 2 a G2 X  -489
 m a 
0 0 0 0  2 G2 Y  -464
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -447.8588

 
m3 a G3Y -424.9187
0 1 0 0  
-0.0265 0.1476 0 0  I G3  3 
327.1762
m a  F 
-1 0 0.045 0  4 G4 X P-732.8599
X

  FPY 
0 -1 1 0 0

-0.0151 -0.2049 1.0081 -0.0454

0.6640 -4.5530 0.1811 -0.0081
0.0151 0.2049 -1.0081 0.0454
-0.6640 4.5530 -0.1811 0.0081
0.0151 0.2049 -1.0081 0.0454
0.3360 4.5530 -0.1811 0.0081
0.3360 4.5530 -0.1811 1.0081
-0.0270 0.1729 0.0329 -0.0015

Matriz Conocida
0 0 0 0  m 2 a G2 X  -282
 
0 0 0 0  m 2 a G2 Y  -541
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X -258.7543

 
m3 a G3Y -496.3392
0 1 0 0  
-0.0325 0.1464 0 0  I G3  3 
424.3922
m a 
-1 0 0.045 0 4 G4 X  FP-423.4160
 X

  FPY 
0 -1 1 0 0

-0.0152 -0.2070 1.0101 -0.0455

0.6633 -4.5989 0.2240 -0.0101
0.0152 0.2070 -1.0101 0.0455
-0.6633 4.5989 -0.2240 0.0101
0.0152 0.2070 -1.0101 0.0455
0.3367 4.5989 -0.2240 0.0101
0.3367 4.5989 -0.2240 1.0101
-0.0194 0.1192 0.0429 -0.0019

Matriz Conocida
0 0 0 0  m 2 a G2 X  -64
 
0 0 0 0  m 2 a G2 Y  -584
0 0 0 1  I G2  2  0
 
 m3 a G3 X 
 m3 a G3Y 
 
 I G3  3 
m a  FPX 
 4 G4 X 
  m 2 a G2 X 
 m 2 a G2 Y 
 
 I G2  2 
 
1 0 0 0  m3 a G3 X -58.4621

 
m3 a G3Y -535.4319
0 1 0 0  
-0.0362 0.1455 0 0  I G3  3 
491.4806
m a 
-1 0 0.045 0 4 G4 X  FPX -95.6653
 
  FPY 
0 -1 1 0 0

-0.0152 -0.2085 1.0113 -0.0455

0.6629 -4.6325 0.2517 -0.0113
0.0152 0.2085 -1.0113 0.0455
-0.6629 4.6325 -0.2517 0.0113
0.0152 0.2085 -1.0113 0.0455
0.3371 4.6325 -0.2517 0.0113
0.3371 4.6325 -0.2517 1.0113
-0.0105 0.0561 0.0513 -0.0023

Matriz Conocida
0 0 0 0  m 2 a G2 X  143
 
0 0 0 0  m 2 a G2 Y  -597
0 0 0 1  I G2  2  0
 
1 0 0 0  m 3 a G3X 130.8293

 
m3 a G3Y -547.5886
0 1 0 0  
-0.0375 0.1452 0 0  I G3  3 
515.6073
m a 
-1 0 0.045 0 4 G4 X  FPX214.0843
 
  FPY 
0 -1 1 0 0

-0.0152 -0.2090 1.0118 -0.0455

0.6627 -4.6448 0.2612 -0.0118
0.0152 0.2090 -1.0118 0.0455
-0.6627 4.6448 -0.2612 0.0118
0.0152 0.2090 -1.0118 0.0455
0.3373 4.6448 -0.2612 0.0118
0.3373 4.6448 -0.2612 1.0118
-0.0009 -0.0118 0.0569 -0.0026

Matriz Conocida
0 0 0 0  m 2 a G2 X  319
 
0 0 0 0  m a
2 G2 Y  -584
0 0 0 1  I G2  2  0
 
1 0 0 0  m3 a G3 X 292.7128

 
m3 a G3Y -535.4319
0 1 0 0  
-0.0362 0.1455 0 0  I G3  3 
491.4806
m a  F 
 4 G4 X PX

  FPY 
  I G2  2 
 
 m3 a G3 X 
 m3 a G3Y 
 
 I G3  3 
m a 
-1 0 0.045 0 4 G4 X  FPX478.9846
 
  FPY 
0 -1 1 0 0

-0.0152 -0.2085 1.0113 -0.0455

0.6629 -4.6325 0.2517 -0.0113
0.0152 0.2085 -1.0113 0.0455
-0.6629 4.6325 -0.2517 0.0113
0.0152 0.2085 -1.0113 0.0455
0.3371 4.6325 -0.2517 0.0113
0.3371 4.6325 -0.2517 1.0113
0.0088 -0.0788 0.0586 -0.0026

Matriz Conocida
0 0 0 0  m 2 a G2 X  458
 
0 0 0 0  m a
2 G2 Y  -541
0 0 0 1  I G2  2  0
 
1 0 0 0  m3 a G3 X 419.6636

 m3 a G3Y 
0 1 0 0  -4.5122
-0.0325 0.1464 0 0  I G3  3 
424.3922
m a  F 
-1 0 0.045 0  4 G4 X PX686.7222

  FPY 
0 -1 1 0 0

-0.0152 -0.2070 1.0101 -0.0455

0.6633 -4.5989 0.2240 -0.0101
0.0152 0.2070 -1.0101 0.0455
-0.6633 4.5989 -0.2240 0.0101
0.0152 0.2070 -1.0101 0.0455
0.3367 4.5989 -0.2240 0.0101
0.3367 4.5989 -0.2240 1.0101
0.0179 -0.1394 0.0555 -0.0025

Matriz Conocida
0 0 0 0  m 2 a G2 X  548
 
0 0 0 0  m a
2 G2 Y  -472
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 502.0374

 
m3 a G3Y -432.6792
0 1 0 0  
-0.0265 0.1476 0 0  I G3  3 
325.4211
m a  F 
-1 0 0.045 0  4 G4 X PX821.5157

  FPY 
0 -1 1 0 0
-0.0151 -0.2049 1.0081 -0.0454
0.6640 -4.5530 0.1811 -0.0081
0.0151 0.2049 -1.0081 0.0454
-0.6640 4.5530 -0.1811 0.0081
0.0151 0.2049 -1.0081 0.0454
0.3360 4.5530 -0.1811 0.0081
0.3360 4.5530 -0.1811 1.0081
0.0258 -0.1892 0.0473 -0.0021

Matriz Conocida
0 0 0 0  m 2 a G2 X  624
 
0 0 0 0  m a
2 G2 Y  -318
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 571.5691

 
m3 a G3Y -318.0633
0 1 0 0  
-0.0187 0.1488 0 0  I G3  3 
213.9373
m a  F 
-1 0 0.045 0  4 G4 X PX935.2948

  FPY 
0 -1 1 0 0

-0.0151 -0.2024 1.0038 -0.0452

0.6654 -4.4972 0.0843 -0.0038
0.0151 0.2024 -1.0038 0.0452
-0.6654 4.4972 -0.0843 0.0038
0.0151 0.2024 -1.0038 0.0452
0.3346 4.4972 -0.0843 0.0038
0.3346 4.4972 -0.0843 1.0038
0.0320 -0.2247 0.0323 -0.0015

Matriz Conocida
0 0 0 0  m 2 a G2 X  657
 
0 0 0 0  m 2 a G 2Y  -195
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 602.5737

 
m3 a G3Y -178.4686
0 1 0 0  
-0.0097 0.1497 0 0  I G3  3 95.4635
m a 
-1 0 0.045 0 4 G4 X  FPX986.0297
 
  FPY 
0 -1 1 0 0

-0.0150 -0.2010 1.0029 -0.0451

0.6657 -4.4674 0.0650 -0.0029
 0.0150 0.2010 -1.0029 0.0451
-0.6657 4.4674 -0.0650 0.0029
0.0150 0.2010 -1.0029 0.0451
0.3343 4.4674 -0.0650 0.0029
0.3343 4.4674 -0.0650 1.0029
0.0359 -0.2456 0.0181 -0.0008

Matriz Conocida
0 0 0 0  m 2 a G2 X  661
 
0 0 0 0  m 2 a G 2Y  -16
0 0 0 1  I G2  2  0
 
1 0 0 0  m a
3 G3 X 605.9023

 m3 a G3Y 
0 1 0 0  -14.9804

0.0000 0.1500 0 0  I G3  3 
-21.7376
m a 
-1 0 0.045 0 4 G4 X  FPX991.4764
 
  FPY 
0 -1 1 0 0

-0.0150 -0.2000 1.0000 -0.0450

0.6667 -4.4450 0.0000 0.0000
0.0150 0.2000 -1.0000 0.0450
-0.6667 4.4450 0.0000 0.0000
0.0150 0.2000 -1.0000 0.0450
0.3333 4.4450 0.0000 0.0000
0.3333 4.4450 0.0000 1.0000
0.0375 -0.2500 0.0000 0.0000
 1246.9460
70.2953
-585.9617
-86.6376
19.9406
-101.6180
-101.6180
4.8725

Resultado
 F12 X  2188.1854
F  800.8085
 12Y 
 F32 X  -1553.9035
  -627.1182
 F32Y 
 F43  -972.4784
 X 
 F43Y  -467.9021
F  -467.9021
 14Y 
 T12  11.4488

Resultado
 F12 X  2005.5795
F  1508.7445
 12Y 
 F32 X  -1429.3914
 
 F32Y 
 F43 
 X 
 F43Y 
F 
  F12 X 
F 
 12Y 
 F32 X 
 
 F32Y  -1149.8241
 F43  -901.2189
 X 
 F43Y  -820.8137
F  -820.8137
 14Y 
 T12  15.8080

Resultado
 F12 X  1710.7734
F  2164.4662
 12Y 
 F32 X  -1225.3626
 
 F32Y  -1641.4012
 F43  -780.4027
 X 
 F43Y  -1161.9249
F  -1161.9249
 14Y 
 T12  16.5449

Resultado
 F12 X  1300.7306
F  2724.5437
 12Y 
 F32 X  -939.4604
  -2072.7898
 F32Y 
 F43  -608.2960
 X 
 F43Y  -1475.3487
F 
 14Y 
 T12 
  F32 X 
 
 F32Y 
 F43 
 X 
 F43Y 
F  -1475.3487
 14Y 
 T12  12.5302

Resultado
 F12 X  778.3676
F  3134.6157
 12Y 
 F32 X  -573.3149
 
 F32Y  -2400.8558
 F43  -385.3499
 X 
 F43Y  -1728.2425
F  -1728.2425
 14Y 
 T12  3.8022

Resultado
 F12 X  159.1843
F  3340.6353
 12Y 
 F32 X  -137.3586
 
 F32Y  -2578.7174
 F43  -117.3517
 X 
 F43Y  -1880.2927
F  -1880.2927
 14Y 
 T12  -7.7250
Resultado
 F12 X  -522.8975
F  3304.8304
 12Y 
 F32 X  344.8502
 
 F32Y  -2571.0705
 F43  181.6403
 X 
 F43Y  -1898.4572
F  -1898.4572
 14Y 
 T12  -18.6909

Resultado
 F12 X  -1214.7147
F  3017.9434
 12Y 
 F32 X  835.8927
 
 F32Y  -2366.1896
 F43  488.6393
 X 
 F43Y  -1768.7485
F  -1768.7485
 14Y 
 T12  -25.8249
Resultado
 F12 X  -1850.1249
F  2501.1445
 12Y 
 F32 X  1288.8872
 
 F32Y  -1978.0794
 F43  774.4194
 X 
 F43Y  -1498.6031
F  -1498.6031
 14Y 
 T12  -27.4076

Resultado
 F12 X  -2361.1204
F  1798.6872
 12Y 
 F32 X  1655.4313
 
 F32Y  -1439.7669
 F43  1008.5496
 X 
 F43Y  -1110.7565
F  -1110.7565
 14Y 
 T12  -23.5735
Resultado
 F12 X  -2689.2780
F  967.6995
 12Y 
 F32 X  1893.8116
 
 F32Y  -794.0092
 F43  1164.6340
 X 
 F43Y  -634.7932
F  -634.7932
 14Y 
 T12  -15.5672

Resultado
 F12 X  -2794.3609
F  70.2953
 12Y 
 F32 X  1975.1608
 
 F32Y  -86.6376
 F43  1224.2273
 X 
 F43Y  -101.6180
F  -101.6180
 14Y 
 T12  -4.8725
Resultado
 F12 X  -2659.6043
F  -830.6595
 12Y 
 F32 X  1887.2091
 
 F32Y  635.9666
 F43  1179.1802
 X 
 F43Y  457.4980
F  457.4980
 14Y 
 T12  7.0779

Resultado
 F12 X  -2294.2740
F  -1692.1856
 12Y 
 F32 X  1635.9265
 
 F32Y  1345.2074
 F43  1032.4414
 X 
 F43Y  998.2292
F  998.2292
 14Y 
 T12  19.5164

Resultado
 F12 X 
F 
 12Y 
 F32 X 
 
 F32Y 
  F12 X  -1737.0865
F  -2395.0122
 12Y 
 F32 X  1248.5132
 
 F32Y  1931.4645
 F43  800.6544
 X 
 F43Y  1506.5458
F  1506.5458
 14Y 
 T12  27.1594

Resultado
 F12 X  -1049.8932
F  -2936.5896
 12Y 
 F32 X  767.6158
 
 F32Y  2395.1286
 F43  508.8616
 X 
 F43Y  1898.7893
F  1898.7893
 14Y 
 T12  29.9641

Resultado
 F12 X  -313.5402
F  -3244.7825
 12Y 
 F32 X  249.7634
 
 F32Y 
 F43 
 X 
 F43Y 
F 
14Y
  F12 X 
F 
 12Y 
 F32 X 
 
 F32Y  2660.6750
 F43  191.3012
 X 
 F43Y  2125.2431
F  2125.2431
 14Y 
 T12  25.1607

Resultado
 F12 X  391.2066
F  -3287.8428
 12Y 
 F32 X  -248.4838
 
 F32Y  2690.4734
 F43  -117.6545
 X 
 F43Y  2142.8849
F  2142.8849
 14Y 
 T12  13.9747

Resultado
 F12 X  1003.2176
F  -3070.7127
 12Y 
 F32 X  -683.8946
 
 F32Y  2486.6052
 F43  -391.1818
 X 
 F43Y  1951.1733
F 
 14Y 
 T12 
  F32 X 
 
 F32Y 
 F43 
 X 
 F43Y 
F  1951.1733
 14Y 
 T12  0.9567

Resultado
 F12 X  1484.7725
F  -2311.0428
 12Y 
 F32 X  -1026.9577
 
 F32Y  1769.5818
 F43  -607.2941
 X 
 F43Y  1765.0697
F  1765.0697
 14Y 
 T12  0.2576

Resultado
 F12 X  1819.1570
F  -2061.8744
 12Y 
 F32 X  -1271.4799
 
 F32Y  1589.8608
 F43  -769.4425
 X 
 F43Y  1157.1816
F  1157.1816
 14Y 
 T12  -12.6613
Resultado
 F12 X  2095.4361
F  -1412.9640
 12Y 
 F32 X  -1471.9062
 
 F32Y  1094.9007
 F43  -900.3371
 X 
 F43Y  776.8373
F  776.8373
 14Y 
 T12  -11.9374

Resultado
 F12 X  2232.9232
F  -662.7918
 12Y 
 F32 X  -1575.5700
 
 F32Y  468.0988
 F43  -972.9963
 X 
 F43Y  289.6302
F  289.6302
 14Y 
 T12  -2.4949
Resultado
 F12 X  2262.9358
F  70.2953
 12Y 
 F32 X  -1601.9515
 
 F32Y  -86.6376
 F43  -996.0493
 X 
 F43Y  -101.6180
F  -101.6180
 14Y 
 T12  4.8725
 15° 30° 45° 60° 75° 90° 105°
 F12 X  2188.1854 2005.5795 1710.7734 1300.7306 778.3676 159.1843 -522.8975
F 
 12Y  800.8085 1508.7445 2164.4662 2724.5437 3134.6157 3340.6353 3304.8304
 F32 X  -1553.9035 -1429.3914 -1225.3626 -939.4604 -573.3149 -137.3586 344.8502
 
 F32Y  -627.1182 -1149.8241 -1641.4012 -2072.7898 -2400.8558 -2578.7174 -2571.0705
 F43  -972.4784 -901.2189 -780.4027 -608.2960 -385.3499 -117.3517 181.6403
 X

F
 43Y  -467.9021 -820.8137 -1161.9249 -1475.3487 -1728.2425 -1880.2927 -1898.4572
F  -467.9021 -820.8137 -1161.9249 -1475.3487 -1728.2425 -1880.2927 -1898.4572
 14Y 
 T12
 
 11.4488 15.8080 16.5449 12.5302 3.8022 -7.7250 -18.6909
 120° 135° 150° 165° 180° 195° 210° 225° 240°
-1214.7147 -2361.1204 -2361.1204 -2689.2780 -2794.3609 -2659.6043 -2294.2740 -1737.0865 -1049.8932
3017.9434 1798.6872 1798.6872 967.6995 70.2953 -830.6595 -1692.1856 -2395.0122 -2936.5896
835.8927 1655.4313 1655.4313 1893.8116 1975.1608 1887.2091 1635.9265 1248.5132 767.6158
-2366.1896 -1439.7669 -1439.7669 -794.0092 -86.6376 635.9666 1345.2074 1931.4645 2395.1286
488.6393 1008.5496 1008.5496 1164.6340 1224.2273 1179.1802 1032.4414 800.6544 508.8616
-1768.7485 -1110.7565 -1110.7565 -634.7932 -101.6180 457.4980 998.2292 1506.5458 1898.7893
-1768.7485 -1110.7565 -1110.7565 -634.7932 -101.6180 457.4980 998.2292 1506.5458 1898.7893
-25.8249 -23.5735 -23.5735 -15.5672 -4.8725 7.0779 19.5164 27.1594 29.9641
 255° 270° 285° 300° 315° 330° 345° 360°
-313.5402 391.2066 1003.2176 1484.7725 1819.1570 2095.4361 2232.9232 2262.9358
-3244.7825 -3287.8428 -3070.7127 -2311.0428 -2061.8744 -1412.9640 -662.7918 70.2953
249.7634 -248.4838 -683.8946 -1026.9577 -1271.4799 -1471.9062 -1575.5700 -1601.9515
2660.6750 2690.4734 2486.6052 1769.5818 1589.8608 1094.9007 468.0988 -86.6376
191.3012 -117.6545 -391.1818 -607.2941 -769.4425 -900.3371 -972.9963 -996.0493
2125.2431 2142.8849 1951.1733 1765.0697 1157.1816 776.8373 289.6302 -101.6180
2125.2431 2142.8849 1951.1733 1765.0697 1157.1816 776.8373 289.6302 -101.6180
25.1607 13.9747 0.9567 0.2576 -12.6613 -11.9374 -2.4949 4.8725
 a b posicion R32(mod.) mR32(angulo)R32(ang.)rad R32x R32y R23(mod.)m
56.24 224.97 0 0.0562 0 0.0000 0.0562 0.0000
56.24 224.97 15 0.0562 15 0.2618 0.0543 0.0146
56.24 224.97 30 0.0562 30 0.5236 0.0487 0.0281
56.24 224.97 45 0.0562 45 0.7854 0.0398 0.0398
56.24 224.97 60 0.0562 60 1.0472 0.0281 0.0487
56.24 224.97 75 0.0562 75 1.3090 0.0146 0.0543
56.24 224.97 90 0.0562 90 1.5708 0.0000 0.0562
56.24 224.97 105 0.0562 105 1.8326 -0.0146 0.0543
56.24 224.97 120 0.0562 120 2.0944 -0.0281 0.0487
56.24 224.97 135 0.0562 135 2.3562 -0.0398 0.0398
56.24 224.97 150 0.0562 150 2.6180 -0.0487 0.0281
56.24 224.97 165 0.0562 165 2.8798 -0.0543 0.0146
56.24 224.97 180 0.0562 180 3.1416 -0.0562 0.0000
56.24 224.97 195 0.0562 195 3.4034 -0.0543 -0.0146
56.24 224.97 210 0.0562 210 3.6652 -0.0487 -0.0281
56.24 224.97 225 0.0562 225 3.9270 -0.0398 -0.0398
56.24 224.97 240 0.0562 240 4.1888 -0.0281 -0.0487
56.24 224.97 255 0.0562 255 4.4506 -0.0146 -0.0543
56.24 224.97 270 0.0562 270 4.7124 0.0000 -0.0562
56.24 224.97 285 0.0562 285 4.9742 0.0146 -0.0543
56.24 224.97 300 0.0562 300 5.2360 0.0281 -0.0487
56.24 224.97 315 0.0562 315 5.4978 0.0398 -0.0398
56.24 224.97 330 0.0562 330 5.7596 0.0487 -0.0281
56.24 224.97 345 0.0562 345 6.0214 0.0543 -0.0146
56.24 224.97 360 0.0562 360 6.2832 0.0562 0.0000
R23(mod.)mR23(angulo)R23(ang.)rad R23x R23y R43(mod.)m R43(angulo)
0.0750 180.0000 3.1416 -0.0750 0.0000 0.1500 360.0000
0.0750 176.2903 3.0768 -0.0748 0.0049 0.1500 356.2903
0.0750 172.8196 3.0163 -0.0744 0.0094 0.1500 352.8196
0.0750 169.8184 2.9639 -0.0738 0.0133 0.1500 349.8184
0.0750 167.4966 2.9234 -0.0732 0.0162 0.1500 347.4966
0.0750 166.0266 2.8977 -0.0728 0.0181 0.1500 346.0266
0.0750 165.5231 2.8889 -0.0726 0.0187 0.1500 345.5231
0.0750 166.0266 2.8977 -0.0728 0.0181 0.1500 346.0266
0.0750 167.4966 2.9234 -0.0732 0.0162 0.1500 347.4966
0.0750 169.8184 2.9639 -0.0738 0.0133 0.1500 349.8184
0.0750 172.8196 3.0163 -0.0744 0.0094 0.1500 352.8196
0.0750 176.2903 3.0768 -0.0748 0.0049 0.1500 356.2903
0.0750 180.0000 3.1416 -0.0750 0.0000 0.1500 360.0000
0.0750 183.7097 3.2063 -0.0748 -0.0049 0.1500 363.7097
0.0750 187.1804 3.2669 -0.0744 -0.0094 0.1500 367.1804
0.0750 190.1816 3.3193 -0.0738 -0.0133 0.1500 370.1816
0.0750 192.5034 3.3598 -0.0732 -0.0162 0.1500 372.5034
0.0750 193.9734 3.3855 -0.0728 -0.0181 0.1500 373.9734
0.0750 194.4769 3.3943 -0.0726 -0.0187 0.1500 374.4769
0.0750 193.9734 3.3855 -0.0728 -0.0181 0.1500 373.9734
0.0750 192.5034 3.3598 -0.0732 -0.0162 0.1500 372.5034
0.0750 190.1816 3.3193 -0.0738 -0.0133 0.1500 370.1816
0.0750 187.1804 3.2669 -0.0744 -0.0094 0.1500 367.1804
0.0750 183.7097 3.2063 -0.0748 -0.0049 0.1500 363.7097
0.0750 180.0000 3.1416 -0.0750 0.0000 0.1500 360.0000
R43(ang.)rad R43x R43y
6.2832 0.1500 0.0000
6.2184 0.1497 -0.0097
6.1579 0.1488 -0.0187
6.1055 0.1476 -0.0265
6.0650 0.1464 -0.0325
6.0393 0.1455 -0.0362
6.0305 0.1452 -0.0375
6.0393 0.1455 -0.0362
6.0650 0.1464 -0.0325
6.1055 0.1476 -0.0265
6.1579 0.1488 -0.0187
6.2184 0.1497 -0.0097
6.2832 0.1500 0.0000
6.3479 0.1497 0.0097
6.4085 0.1488 0.0187
6.4609 0.1476 0.0265
6.5014 0.1464 0.0325
6.5271 0.1455 0.0362
6.5359 0.1452 0.0375
6.5271 0.1455 0.0362
6.5014 0.1464 0.0325
6.4609 0.1476 0.0265
6.4085 0.1488 0.0187
6.3479 0.1497 0.0097
6.2832 0.1500 0.0000