a (pulg) b (pulg) c (pulg) d (pulg) ω2 (rpm) ω2 (rad/s) ϑ2 (grados) ϑ2 (rad) Ax Ay P Q

14 80 50.29 77.13 4 0.41888 0 0 14 0 1 0

14 80 50.29 77.13 4 0.41888 30 0.52360 12.12436 7 1.01160 -0.33447
14 80 50.29 77.13 4 0.41888 45 0.78540 9.89949 9.89949 1.02168 -0.81806
14 80 50.29 77.13 4 0.41888 60 1.04720 7 12.12436 1.02989 -1.47209
14 80 50.29 77.13 4 0.41888 90 1.57080 8.573E-16 14 1.03295 -2.67587
14 80 50.29 77.13 4 0.41888 120 2.09440 -7 12.12436 1.02077 -2.87265
14 80 50.29 77.13 4 0.41888 150 2.61799 -12.12436 7 1.00615 -1.82085
14 80 50.29 77.13 4 0.41888 180 3.14159 -14 1.715E-15 1 0
14 80 50.29 77.13 4 0.41888 210 3.66519 -12.12436 -7 1.00615 1.82085
14 80 50.29 77.13 4 0.41888 240 4.18879 -7 -12.12436 1.02077 2.87265
14 80 50.29 77.13 4 0.41888 270 4.71239 -2.572E-15 -14 1.03295 2.67587
14 80 50.29 77.13 4 0.41888 300 5.23599 7 -12.12436 1.02989 1.47209
14 80 50.29 77.13 4 0.41888 330 5.75959 12.12436 -7 1.01160 0.33447
14 80 50.29 77.13 4 0.41888 360 6.28319 14 -3.429E-15 1 0

R S Bx By ϑ3 (rad) ϑ3 (grados) ϑ4 (rad) ϑ4 (grados) ω3 (rad/s) ω3 (rpm) ω4 (rad/s) ω4 (rpm)

-2528.262 76.22329 76.22329 50.28183 0.67965 38.94122 -1.55277 -88.96692 -0.09289 -0.88706 0.09289 0.88706
-2519.437 74.02398 79.41578 50.07107 0.56936 32.62200 1.52518 87.38622 -0.07560 -0.72189 -0.00653 -0.06237
-2498.218 71.57430 75.91256 49.55931 0.54100 30.99692 -1.54624 -88.59279 -0.06105 -0.58302 -0.03245 -0.30986
-2456.580 68.61509 77.18310 49.55931 0.49000 28.07501 1.56972 89.93861 -0.04149 -0.39617 0.06993 0.66776
-2311.754 62.38787 70.97799 47.32543 0.43897 25.15089 -1.44153 -82.59344 -0.00992 -0.09474 -0.11083 -1.05832
-2131.756 57.19691 63.98868 47.12758 0.45810 26.24707 -1.29886 -74.41911 0.01857 0.17737 -0.11841 -1.13069
-1990.058 53.91307 57.47271 45.38757 0.50405 28.87976 -1.16209 -66.58263 0.04389 0.41909 -0.10028 -0.95763
-1937.302 52.80343 52.80343 44.01479 0.58259 33.37970 -1.06589 -61.07097 0.06435 0.61451 -0.06435 -0.61451
-1990.058 53.91307 50.49537 43.57785 0.67942 38.92775 -1.02218 -58.56687 0.07391 0.70581 -0.01825 -0.17430
-2131.756 57.19691 50.81071 44.31338 0.77338 44.31148 -1.03485 -59.29242 0.06578 0.62812 0.03244 0.30980
-2311.754 62.38787 54.03285 46.03017 0.83793 48.00978 -1.10572 -63.35329 0.03530 0.33710 0.08377 0.79993
-2456.580 68.61509 60.29419 48.12994 0.84662 48.50763 -1.23430 -70.72021 -0.01562 -0.14921 0.12671 1.21000
-2519.437 74.02398 68.66778 49.74044 0.78714 45.09964 -1.40228 -80.34485 -0.06927 -0.66152 0.13832 1.32089
-2528.262 76.22329 76.22329 50.28183 0.67965 38.94122 -1.55277 -88.96692 -0.09289 -0.88706 0.09289 0.88706

medida
Eslabón

a 14
b 80
c 50.29
d 77.13

vel oci da d a ngul a r (ω3)

vel oci da d a ngul a r (ω3 )

ϑ2 [grad.] vs ω3 [rpm]
ϑ2 [grad.] vs ω3 [rad/s] 0.8
0.10000
0.6

0.05000 0.4

0.2
0.00000 0.0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
-0.2
-0.05000
-0.4
 ϑ2 [grad.] vs ω3 [rpm]
ϑ2 [grad.] vs ω3 [rad/s]

vel oci da d

vel oci d
0.8
0.10000
0.6

0.05000 0.4

0.2
0.00000 0.0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
-0.2
-0.05000
-0.4

-0.6
-0.10000
-0.8

-0.15000 -1.0
ángulo (ϑ2) ángulo (ϑ2)

vel oci da d a ngul a r (ω4)

ϑ2 (grados) vs ω4 [rad/s]
0.20000
ϑ2 (grados) vs ω4 [rpm]
0.15000 1.5

0.10000 1.0
Axis Title

0.05000
0.5
0.00000
0 50 100 150 200 250 300 350 400 0.0
0 50 100 150 200 250 300 350 400
-0.05000
-0.5
-0.10000
-1.0
-0.15000
Axis Title -1.5
ángulo (ϑ2)

ϑ2 (grados) vs ϑ3 (rad) ϑ2 (grados) vs ϑ3 (grados)

ángulo (ϑ3)
0.90000 60.0
0.80000
50.0
0.70000
0.60000 40.0
Axis Title

0.50000
30.0
0.40000
0.30000 20.0
0.20000
0.10000 10.0

0.00000 0.0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
 0.60000 40.0

Axis Title
0.50000
30.0
0.40000
0.30000 20.0
0.20000
0.10000 10.0

0.00000 0.0
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
Axis Title
ángulo (ϑ2)

ϑ2 (grados) vs ϑ4 (grados)
100.0

ángulo (ϑ4)
80.0
60.0
40.0
20.0
0.0
0 50 100 150 200 250 300 350 400
-20.0
-40.0
-60.0
-80.0
-100.0
ángulo (ϑ2)
300 350 400
300 350 400

300 350 400

300 350 400

300 350 400

300 350 400

 a b c d ϑ2XY ϑ2xy ϑ4xy
K1 K2 K3 A1 B1 C1
[pulg] [pulg] [pulg] [pulg] [°] [°] [rad] [rad]
14 80 50.29 77.13 0 54.78 0.9561 5.5093 1.5337 1.6150 -4.2021 -1.6339 5.6631 -1.8816
14 80 50.29 77.13 30 84.78 1.4797 5.5093 1.5337 1.6150 -3.9428 -1.9917 6.8938 -2.0237
14 80 50.29 77.13 45 99.78 1.7415 5.5093 1.5337 1.6150 -3.8036 -1.9709 7.5547 -2.0740
14 80 50.29 77.13 60 114.78 2.0033 5.5093 1.5337 1.6150 -3.6706 -1.8158 8.1863 -2.1087
14 80 50.29 77.13 90 144.78 2.5269 5.5093 1.5337 1.6150 -3.4583 -1.1534 9.1942 -2.1301
14 80 50.29 77.13 120 174.78 3.0505 5.5093 1.5337 1.6150 -3.3628 -0.1820 9.6475 -2.0889
14 80 50.29 77.13 150 204.78 3.5741 5.5093 1.5337 1.6150 -3.4097 0.8383 9.4247 -1.9922
14 80 50.29 77.13 180 234.78 4.0977 5.5093 1.5337 1.6150 -3.5865 1.6339 8.5855 -1.8566
14 80 50.29 77.13 210 264.78 4.6213 5.5093 1.5337 1.6150 -3.8457 1.9917 7.3548 -1.7084
14 80 50.29 77.13 240 294.78 5.1449 5.5093 1.5337 1.6150 -4.1180 1.8158 6.0623 -1.5834
14 80 50.29 77.13 270 324.78 5.6685 5.5093 1.5337 1.6150 -4.3303 1.1534 5.0544 -1.5252
14 80 50.29 77.13 300 354.78 6.1921 5.5093 1.5337 1.6150 -4.4258 0.1820 4.6011 -1.5701
14 80 50.29 77.13 330 24.78 0.4325 5.5093 1.5337 1.6150 -4.3788 -0.8383 4.8239 -1.7098
14 80 50.29 77.13 360 54.78 0.9561 5.5093 1.5337 1.6150 -4.2021 -1.6339 5.6631 -1.8816

ϑ4xy [ ° ] ϑ3xy ϑ3xy [ ° ] ω2 ω2 ω3

K4 K5 D1 E1 F1
Neg. Posi. [ rad ] Neg. Posi. [ rpm ] [ rad/s ] [ rad/s ] [ rpm ]
-107.8054 252.1946 0.9641 -4.4714 -9.9600 -1.6339 1.0172 -0.7815 -44.7788 315.2212 4 0.4189 -0.0246 -0.2351
-115.9493 244.0507 0.9641 -4.4714 -9.9774 -1.9917 1.0346 -0.8239 -47.2051 312.7949 4 0.4189 0.0278 0.2659
-118.8331 241.1669 0.9641 -4.4714 -9.9868 -1.9709 1.0440 -0.8235 -47.1836 312.8164 4 0.4189 0.0482 0.4602
-120.8216 239.1784 0.9641 -4.4714 -9.9957 -1.8158 1.0529 -0.8086 -46.3280 313.6720 4 0.4189 0.0628 0.5994
-122.0470 237.9530 0.9641 -4.4714 -10.0100 -1.1534 1.0672 -0.7423 -42.5293 317.4707 4 0.4189 0.0744 0.7108
-119.6834 240.3166 0.9641 -4.4714 -10.0164 -0.1820 1.0736 -0.6494 -37.2064 322.7936 4 0.4189 0.0673 0.6427
-114.1458 245.8542 0.9641 -4.4714 -10.0133 0.8383 1.0704 -0.5604 -32.1086 327.8914 4 0.4189 0.0486 0.4644
-106.3743 253.6257 0.9641 -4.4714 -10.0014 1.6339 1.0586 -0.4970 -28.4764 331.5236 4 0.4189 0.0242 0.2313
-97.8832 262.1168 0.9641 -4.4714 -9.9840 1.9917 1.0411 -0.4678 -26.8001 333.1999 4 0.4189 -0.0036 -0.0344
-90.7241 269.2759 0.9641 -4.4714 -9.9657 1.8158 1.0228 -0.4748 -27.2044 332.7956 4 0.4189 -0.0353 -0.3367
-87.3853 272.6147 0.9641 -4.4714 -9.9514 1.1534 1.0086 -0.5193 -29.7522 330.2478 4 0.4189 -0.0685 -0.6545
-89.9579 270.0421 0.9641 -4.4714 -9.9450 0.1820 1.0022 -0.5983 -34.2822 325.7178 4 0.4189 -0.0884 -0.8440
-97.9651 262.0349 0.9641 -4.4714 -9.9481 -0.8383 1.0053 -0.6961 -39.8819 320.1181 4 0.4189 -0.0726 -0.6936
-107.8054 252.1946 0.9641 -4.4714 -9.9600 -1.6339 1.0172 -0.7815 -44.7788 315.2212 4 0.4189 -0.0246 -0.2351
ϑ2XY ϑ3XY
[°] [°] ϑ2XY [ ° ] -- ϑ3XY [ ° ]
335
0 315.2212
30 312.7949
330
45 312.8164
60 313.6720 325
90 317.4707
120 322.7936 320
150 327.8914
180 331.5236 315

210 333.1999
310
240 332.7956
270 330.2478 305
300 325.7178
330 320.1181 300
0 30 60 90 120 150 180 210 240 270 300 330 360
360 315.2212

ϑ2XY ϑ4XY
[°] [°] ϑ2XY [ ° ] -- ϑ4XY [ ° ]
275
0 252.1946
30 244.0507 270
45 241.1669
60 239.1784 265
90 237.9530
260
120 240.3166
150 245.8542 255
180 253.6257
250
210 262.1168
240 269.2759 245
270 272.6147
240
300 270.0421
235
0 30 60 90 120 150 180 210 240 270 300 330 360
 245

240

330 262.0349 235

0 30 60 90 120 150 180 210 240 270 300 330 360
360 252.1946
ϑ2XY ϑVA(XY)
[°] [°] ϑ2XY [ ° ] -- ϑVA(XY) [ ° ]
0 19.56 150
30 49.56
45 64.56
116
60 79.56
90 109.56
120 139.56 82
150 -10.44
180 19.56
48
210 49.56
240 79.56
270 109.56 14
300 139.56
330 -10.44 0 30 60 90 120 150 180 210 240 270 300 330 360

360 19.56 -20

ϑ2XY ϑAA(XY)
[°] [°] ϑ2XY [ ° ] -- ϑAA(XY)[ ° ]
0 330
289.56
30 319.56
45 154.56 300
60 169.56
90 199.56 270
120 229.56
150 259.56 240
180 289.56
210 319.56 210
240 169.56
270 199.56 180
 210

180
300 229.56
330 259.56 150
360 289.56 0 30 60 90 120 150 180 210 240 270 300 330 360
 ω4 VA [ pulg/s ] ϑVA(XY) VB [ pulg/s ] ϑVB(XY) α2 AA [ pulg/s2 ] ϑAA(XY)
[ rad/s ] [ rpm ] real imag. mód. [°] real imag. mód. [°] [ rad/s2 ] real imag. mód. [°]
-0.1290 -1.2321 -4.7908 3.3820 5.8643 19.56 -6.1779 1.9842 6.4888 36.9746 0 -1.4167 -2.0068 2 289.56
-0.0930 -0.8881 -5.8400 0.5335 5.8643 49.56 -4.2057 2.0466 4.6772 28.8307 0 -0.2235 -2.4462 2 319.56
-0.0670 -0.6396 -5.7791 -0.9961 5.8643 64.56 -2.9508 1.6244 3.3683 25.9469 0 0.4173 -2.4207 2 154.56
-0.0392 -0.3742 -5.3243 -2.4579 5.8643 79.56 -1.6922 1.0096 1.9705 23.9584 0 1.0296 -2.2303 2 169.56
0.0151 0.1441 -3.3820 -4.7908 5.8643 109.56 0.6431 -0.4026 0.7588 22.7330 0 2.0068 -1.4167 2 199.56
0.0623 0.5950 -0.5335 -5.8400 5.8643 139.56 2.7222 -1.5517 3.1334 25.0966 0 2.4462 -0.2235 2 229.56
0.0986 0.9418 2.4579 -5.3243 5.8643 -10.44 4.5259 -2.0289 4.9598 30.6342 0 2.2303 1.0296 2 259.56
0.1184 1.1310 4.7908 -3.3820 5.8643 19.56 5.7145 -1.6791 5.9561 38.4057 0 1.4167 2.0068 2 289.56
0.1146 1.0946 5.8400 -0.5335 5.8643 49.56 5.7101 -0.7906 5.7646 46.8968 0 0.2235 2.4462 2 319.56
0.0802 0.7662 5.3243 2.4579 5.8643 79.56 4.0347 -0.0510 4.0350 54.0559 0 -1.0296 2.2303 2 169.56
0.0132 0.1256 3.3820 4.7908 5.8643 109.56 0.6609 0.0302 0.6616 57.3947 0 -2.0068 1.4167 2 199.56
-0.0686 -0.6550 0.5335 5.8400 5.8643 139.56 -3.4493 -0.0025 3.4493 54.8221 0 -2.4462 0.2235 2 229.56
-0.1242 -1.1857 -2.4579 5.3243 5.8643 -10.44 -6.1839 0.8653 6.2442 46.8149 0 -2.2303 -1.0296 2 259.56
-0.1290 -1.2321 -4.7908 3.3820 5.8643 19.56 -6.1779 1.9842 6.4888 36.9746 0 -1.4167 -2.0068 2 289.56

α3 α4 AB [ pulg/s2 ] ϑAB(XY) P [ pulg ] e = O4P

A2 B2 C2 D2 E2 F2
[ rad/s2 ] [rad/s2] real imag. mód. [°] Px Py [ pulg ]
-47.8811 -56.3498 1.7071 -15.3779 56.7865 -2.7697 0.0443 0.0165 1.0457 0.5435 1.1785 262.2432 114.68 33.19 50.1157
-45.2198 -58.7032 0.4560 -22.0057 54.3501 -2.7919 0.0363 0.0371 1.8681 -0.4253 1.9159 221.9544 114.68 33.19 50.1157
-44.0555 -58.6829 -0.1822 -24.2528 54.3721 -2.4821 0.0275 0.0407 1.9035 -0.7904 2.0610 212.2312 114.68 33.19 50.1157
-43.1874 -57.8644 -0.7724 -25.7670 55.2423 -2.0686 0.0179 0.0419 1.8483 -1.0128 2.1076 206.0578 114.68 33.19 50.1157
-42.6265 -54.0774 -1.6741 -26.6846 58.9545 -1.1268 0.0008 0.0403 1.7260 -1.0670 2.0292 203.0563 114.68 33.19 50.1157
-43.6907 -48.3751 -2.0610 -24.9040 63.7170 -0.1740 -0.0110 0.0350 1.6273 -0.7029 1.7726 211.4198 114.68 33.19 50.1157
-45.8900 -42.5220 -1.8699 -20.5717 67.7634 0.6838 -0.0175 0.0245 1.3246 -0.0577 1.3258 232.2845 114.68 33.19 50.1157
-48.2503 -38.1437 -1.1766 -14.1773 70.3211 1.3523 -0.0208 0.0079 0.5810 0.5645 0.8101 278.9565 114.68 33.19 50.1157
-49.8147 -36.0704 -0.1319 -6.8975 71.4068 1.7922 -0.0237 -0.0145 -0.6322 0.7546 0.9844 184.7348 114.68 33.19 50.1157
-50.2860 -36.5734 1.1221 -0.6355 71.1505 1.9520 -0.0271 -0.0420 -2.1077 0.3504 2.1366 225.3408 114.68 33.19 50.1157
-50.2376 -39.7000 2.3327 2.2942 69.4544 1.5945 -0.0251 -0.0663 -3.3314 -0.1434 3.3345 237.2452 114.68 33.19 50.1157
-50.2900 -45.0616 2.9625 0.0370 66.1018 0.3389 -0.0052 -0.0635 -3.1953 0.2342 3.2039 230.5874 114.68 33.19 50.1157
-49.8048 -51.2966 2.6616 -6.9687 61.3894 -1.5268 0.0277 -0.0249 -1.1333 0.9414 1.4733 195.0648 114.68 33.19 50.1157
-47.8811 -56.3498 1.7071 -15.3779 56.7865 -2.7697 0.0443 0.0165 1.0457 0.5435 1.1785 262.2432 114.68 33.19 50.1157
ϑ2XY ω3
[°] [rpm] ϑ2XY [ ° ] -- ω3 [rpm]
0 -0.2351 0.8
30 0.2659
0.6
45 0.4602
60 0.5994 0.4
90 0.7108 0.2
120 0.6427
150 0.4644 0
0 30 60 90 120 150 180 210 240 270 300 330 360
180 0.2313 -0.2
210 -0.0344
-0.4
240 -0.3367
270 -0.6545 -0.6
300 -0.8440 -0.8
330 -0.6936
360 -1
-0.2351

ϑ2XY ω4
[°] [rpm] ϑ2XY [ ° ] -- ω4 [rpm]
0 -1.2321 1.5
30 -0.8881
45 -0.6396
1.0
60 -0.3742
90 0.1441
120 0.5
0.5950
150 0.9418
180 0.0
1.1310 0 30 60 90 120 150 180 210 240 270 300 330 360
210 1.0946
240 -0.5
0.7662
270 0.1256
300 -1.0
-0.6550
 -0.5

-1.0

330 -1.1857
360 -1.5
-1.2321
ϑ2XY AB
[°] [ pulg/s2 ] ϑ2XY [ ° ] -- AB [ pulg/s2 ]
0 1.1785 3.5
30 1.9159
45 2.0610 3.0
60 2.1076
90 2.0292 2.5
120 1.7726
150 1.3258 2.0
180 0.8101
210 0.9844 1.5
240 2.1366
270 3.3345 1.0
300 3.2039
330 1.4733 0.5
360 1.1785 0 30 60 90 120 150 180 210 240 270 300 330 360

ϑ2XY ϑAB(XY)
[°] [°] ϑ2XY [ ° ] -- ϑAB(XY)[ ° ]
0 262.2432 280
30 221.9544 270
45 212.2312 260
60 206.0578
250
90 203.0563
120 211.4198 240
150 232.2845 230
180 278.9565 220
210 184.7348
210
240 225.3408
270 237.2452 200

190
 220

210

200

300 230.5874 190

330 195.0648 180
360 262.2432 0 30 60 90 120 150 180 210 240 270 300 330 360
 ϑ2XY
[°]
VP [ pulg/s ] δ4 AP [ pulg/s2 ] ϑVP(XY) ϑAP(XY) ꙋ 92.92
real imag. mód. [°] [ rad ] real imag. mód. [°] [°] [°] [ rad ] 100
-5.1659 -3.8892 6.4663 107.8180 1.8818 -0.8345 0.8264 1.1744 271.7546 10.0612 54.78 0.9561 115
-4.0833 -2.2477 4.6610 115.9620 2.0239 -0.4339 1.8593 1.9092 263.6107 -22.0836 54.78 0.9561 130
-3.0183 -1.4687 3.3567 118.8457 2.0742 -0.2253 2.0415 2.0539 260.7269 -28.9231 54.78 0.9561 145
-1.7945 -0.7974 1.9637 120.8343 2.1090 -0.0774 2.0989 2.1003 258.7384 -33.1080 54.78 0.9561 160
0.6974 0.2922 0.7561 122.0596 2.1303 -0.0119 2.0222 2.0222 257.5130 -34.8841 54.78 0.9561 175
2.8278 1.3244 3.1225 119.6960 2.0891 -0.1949 1.7557 1.7665 259.8766 -28.8842 54.78 0.9561 190
4.2528 2.5185 4.9426 114.1585 1.9924 -0.4877 1.2279 1.3213 265.4142 -13.5570 54.78 0.9561 205
4.6512 3.6873 5.9355 106.3869 1.8568 -0.7031 0.3967 0.8073 273.1857 25.3434 54.78 0.9561 220
3.9254 4.1943 5.7446 97.8958 1.7086 -0.6583 -0.7273 0.9810 281.6768 102.6307 54.78 0.9561 235
2.3603 3.2554 4.0210 90.7367 1.5837 -0.3222 -2.1047 2.1292 288.8359 136.0775 54.78 0.9561 250
0.3552 0.5554 0.6593 87.3979 1.5254 -0.0079 -3.3230 3.3230 292.1747 144.6431 54.78 0.9561 265
-1.9803 -2.8096 3.4374 89.9705 1.5703 -0.2351 -3.1841 3.1928 289.6021 140.5579 54.78 0.9561 270
-4.2584 -4.5371 6.2225 97.9777 1.7100 -0.7723 -1.2487 1.4682 281.5949 113.0426 54.78 0.9561
-5.1659 -3.8892 6.4663 107.8180 1.8818 -0.8345 0.8264 1.1744 271.7546 10.0612 54.78 0.9561 R34

32
32
32
32
32
32
32
32
32
32
32
32
32
 32
ϑ2XY VB
[°] [ pulg/s ] ϑ2XY [ ° ] -- VB [ pulg/s ]
0 6.4888 7
30 4.6772
45 3.3683 6

60 1.9705
5
90 0.7588
120 3.1334 4
150 4.9598
180 5.9561 3
210 5.7646
240 4.0350 2

270 0.6616
1
300 3.4493
330 6.2442 0
360 6.4888 0 30 60 90 120 150 180 210 240 270 300 330 360

ϑ2XY ϑVB(XY)
[°] [°] ϑ2XY [ ° ] -- ϑVB(XY) [ ° ]
0 36.9746 60
30 28.8307
45 25.9469 55
60 23.9584
50
90 22.7330
120 25.0966 45
150 30.6342
40
180 38.4057
210 46.8968 35
240 54.0559
30
270 57.3947
300 54.8221 25

20
 30

25
330 46.8149
20
360 36.9746 0 30 60 90 120 150 180 210 240 270 300 330 360
 ϑ2xy RCG2 RCG3 RCG4 W2 W3 W4 IG2 IG3 IG4 α β δ gravedad aG3x
[°] [rad] [ pulg ] [ lbf ] [ lbf pulg s2 ] [°] [°] [°] [ pulg/s2 ] [ pulg/s2 ]
147.70 2.578 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 0.491
154.78 2.701 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.647
169.78 2.963 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.981
184.78 3.225 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -2.155
199.78 3.487 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -2.091
214.78 3.749 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.553
229.78 4.010 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -0.628
244.78 4.272 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 0.474
259.78 4.534 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.425
274.78 4.796 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.959
289.78 5.058 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -2.059
304.78 5.319 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -1.814
319.78 5.581 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 -0.934
324.78 5.668 13.2 40 79.22 598.3 108 2706 11.8 150 10700 143.11 -14.03 156.62 386.221 0.491

R14 RP aG2 [ pulg/s2 ] ϑaG2 aG2x aG2y aCG3A [ pulg/s2 ] aG3 [ pulg/s2 ] ϑaG3 R32x
[ pulg ] real imag. mód. [°] [ pulg/s2 ] real imag. real imag. mód. [°] [ pulg ]
79.22 124.44 1.958 -1.238 2.316 202.480 -2.140 -0.886 1.231 1.275 -0.185 -0.732 0.755 310.554 -0.041
79.22 124.44 2.095 -0.987 2.316 209.560 -2.015 -1.143 1.046 1.010 0.822 -1.436 1.655 174.581 -0.139
79.22 124.44 2.279 -0.411 2.316 224.560 -1.650 -1.625 0.743 0.815 1.160 -1.606 1.981 180.637 -0.338
79.22 124.44 2.308 0.193 2.316 239.560 -1.173 -1.997 0.409 0.609 1.439 -1.622 2.168 186.365 -0.514
79.22 124.44 2.179 0.784 2.316 254.560 -0.617 -2.232 -0.140 0.175 1.866 -1.242 2.242 201.142 -0.655
79.22 124.44 1.902 1.321 2.316 269.560 -0.018 -2.316 -0.409 -0.240 2.037 -0.463 2.089 221.969 -0.752
79.22 124.44 1.496 1.768 2.316 284.560 0.582 -2.242 -0.453 -0.544 1.777 0.486 1.843 250.070 -0.797
79.22 124.44 0.987 2.095 2.316 299.560 1.143 -2.015 -0.418 -0.721 0.999 1.286 1.628 286.936 -0.788
79.22 124.44 0.411 2.279 2.316 314.560 1.625 -1.650 -0.428 -0.846 -0.204 1.600 1.613 152.056 -0.725
79.22 124.44 -0.193 2.308 2.316 149.560 -1.997 1.173 -0.539 -0.940 -1.569 1.290 2.031 195.340 -0.613
79.22 124.44 -0.784 2.179 2.316 164.560 -2.232 0.617 -0.662 -0.780 -2.669 0.637 2.744 221.365 -0.459
79.22 124.44 -1.321 1.902 2.316 179.560 -2.316 0.018 -0.375 0.005 -2.821 0.229 2.830 230.142 -0.274
79.22 124.44 -1.768 1.496 2.316 194.560 -2.242 -0.582 0.548 0.986 -1.682 -0.044 1.682 236.281 -0.070
79.22 124.44 -1.892 1.336 2.316 199.560 -2.182 -0.775 1.231 1.275 -0.185 -0.732 0.755 310.554 0.000
ϑ2XY F12
[°] [ lbf ] ϑ2XY [ ° ] -- F12 [ lbf ]
92.92 1540.586 7000
100 1588.854
6450
115 1775.668
5900
130 2072.238
145 2467.306 5350

160 2943.855 4800

175 3481.554 4250
190 4059.217
3700
205 4655.471
220 3150
5246.696
235 5802.316 2600
250 6278.411 2050
265 6613.959 1500
270 6681.906 90 105 120 135 150 165 180 195 210 225 240 255 270

ϑ2XY ϑF12
[°] [°] ϑ2XY [ ° ] -- ϑF12 [ ° ]
92.92 217.092 218
100 217.397
217
115 217.244
130 216.640 216
145 216.095 215
160 215.752
214
175 215.537
213
190 215.316
205 212
214.962
220 214.379 211

235 213.500 210

250 212.280 209

208
 211

210

209
265 210.703 208
270 90 105 120 135 150 165 180 195 210 225 240 255 270
210.102

ϑ2XY F32
[°] [ lbf ] ϑ2XY [ ° ] -- F32 [ lbf ]
92.92 1276.188 6500
100 1318.000 6000
115 1495.229 5500
130 1784.691 5000
145 2172.978
4500
160 2642.916
4000
175 3174.973
190 3500
3748.878
205 4343.980 3000
220 4937.195 2500
235 5498.360 2000
250 5983.894 1500
265 6332.992 1000
270 6406.371 90 105 120 135 150 165 180 195 210 225 240 255 270

ϑ2XY ϑF32
[°] [°]
ϑ2XY [ ° ] -- ϑF32 [ ° ]
92.92 195.088 210
100 196.215
208
115 198.633
130 201.006 206
145 203.217
204
160 205.147
175 206.702 202
190 207.821
200
205 208.470
220 208.631 198
235 208.287
196
 200

198

196
250 207.425
265 206.040 194
270 90 105 120 135 150 165 180 195 210 225 240 255 270
205.464
 aG3y aG4 [ pulg/s2 ] ϑaG4 aG4x aG4y ϑ2XY ϑ3XY ϑ4XY R12x R12y FPx
pulg/s2 ] real imag. mód. [°] [ pulg/s2 ] [°] [°] [°] [ pulg ] [ lbf ]
-0.573 1.806 0.431 1.856 248.213 -0.689 -1.724 92.92 12.730 -67.191 0.672 -13.183 0
0.156 2.692 -1.363 3.018 207.924 -2.667 -1.413 100 13.944 -66.866 2.292 -12.999 0
-0.022 2.607 -1.935 3.247 198.201 -3.084 -1.014 115 16.657 -65.535 5.579 -11.963 0
-0.240 2.438 -2.254 3.320 192.028 -3.247 -0.692 130 19.376 -63.376 8.485 -10.112 0
-0.809 2.230 -2.290 3.197 189.026 -3.157 -0.501 145 21.900 -60.477 10.813 -7.571 0
-1.397 2.219 -1.696 2.792 197.390 -2.665 -0.835 160 24.082 -56.960 12.404 -4.515 0
-1.732 2.002 -0.594 2.089 218.254 -1.640 -1.293 175 25.828 -52.987 13.150 -1.150 0
-1.557 1.103 0.641 1.276 264.926 -0.113 -1.271 190 27.089 -48.753 12.999 2.292 0
0.756 -0.678 1.395 1.551 170.705 -1.530 0.250 205 27.843 -44.488 11.963 5.579 0
-0.537 -3.087 1.340 3.366 211.311 -2.876 -1.749 220 28.080 -40.453 10.112 8.485 0
-1.813 -5.146 1.053 5.253 223.215 -3.828 -3.597 235 27.791 -36.942 7.571 10.813 0
-2.172 -4.794 1.578 5.047 216.557 -4.054 -3.006 250 26.966 -34.280 4.515 12.404 0
-1.399 -1.373 1.872 2.321 181.035 -2.321 -0.042 265 25.601 -32.790 1.150 13.150 0
-0.573 1.806 0.431 1.856 248.213 -0.689 -1.724 270 25.028 -32.605 0.000 13.200 0

R32y R23x R23y R43x R43y R34x R34y R14x R14y RPx RPy F F32x
[ pulg ] [ pulg ] [ pulg ] [ pulg ] [ pulg ] [ pulg ] [ lbf ] [ lbf ]
0.799 -39.017 -8.814 39.017 8.814 7.785 31.038 -12.091 78.292 1.241 124.434 2300 -1232.196
0.788 -38.821 -9.639 38.821 9.639 7.609 31.082 -12.534 78.222 0.535 124.439 2300 -1265.571
0.725 -38.321 -11.466 38.321 11.466 6.885 31.251 -14.349 77.910 -2.357 124.418 2300 -1416.855
0.613 -37.734 -13.271 37.734 13.271 5.703 31.488 -17.273 77.314 -7.042 124.241 2300 -1666.088
0.459 -37.113 -14.920 37.113 14.920 4.103 31.736 -21.162 76.341 -13.317 123.725 2300 -1997.010
0.274 -36.518 -16.322 36.518 16.322 2.149 31.928 -25.804 74.900 -20.881 122.676 2300 -2392.421
0.070 -36.004 -17.427 36.004 17.427 -0.069 32.000 -30.932 72.932 -29.330 120.934 2300 -2836.385
-0.139 -35.612 -18.215 35.612 18.215 -2.431 31.908 -36.232 70.449 -38.178 118.439 2300 -3315.553
-0.338 -35.369 -18.682 35.369 18.682 -4.797 31.638 -41.371 67.559 -46.882 115.271 2300 -3818.637
-0.514 -35.292 -18.828 35.292 18.828 -7.012 31.222 -46.023 64.480 -54.878 111.686 2300 -4333.509
-0.655 -35.386 -18.650 35.386 18.650 -8.910 30.734 -49.885 61.541 -61.613 108.116 2300 -4841.792
-0.752 -35.651 -18.138 35.651 18.138 -10.329 30.287 -52.690 59.158 -66.569 105.137 2300 -5311.412
-0.797 -36.073 -17.284 36.073 17.284 -11.113 30.009 -54.210 57.768 -69.280 103.371 2300 -5690.139
-0.800 -36.244 -16.922 36.244 16.922 -11.209 29.973 -54.396 57.593 -69.612 103.148 2300 -5784.039
ϑ2XY F43
[°] [ lbf ] ϑ2XY [ ° ] -- F43 [ lbf ]
92.92 1252.318 6450
100 1291.909
115 1464.211 5700
130 1748.804
4950
145 2132.642
160 2598.798 4200
175 3127.875
190 3699.655 3450
205 4293.497
220 4886.318 2700

235 5447.962
1950
250 5934.874
265 6286.274 1200
270 90 105 120 135 150 165 180 195 210 225 240 255 270
6360.627

ϑ2XY ϑF43
[°] [°] ϑ2XY [ ° ] -- ϑF43 [ ° ]
92.92 190.320 208
100 191.619
115 206
194.633
130 197.707 204
145 200.555
202
160 202.996
175 204.938 200
190 206.345 198
205 207.206
196
220 207.521
235 194
207.288
250 206.501 192

190
 196

194

192
265 205.157 190
270 90 105 120 135 150 165 180 195 210 225 240 255 270
204.587

ϑ2XY F14
[°] [ lbf ] ϑ2XY [ ° ] -- F14 [ lbf ]
92.92 4927.3433 6380
100 4901.1911
6160
115 4837.6032
130 4764.5691 5940
145 4693.4106
5720
160 4644.9960
175 4645.2160 5500
190 4718.1370
5280
205 4878.9963
220 5128.9305 5060
235 5451.5456
250 4840
5810.6144
265 6149.8842 4620
270 90 105 120 135 150 165 180 195 210 225 240 255 270
6246.5758

ϑ2XY ϑF14
[°] [°]
ϑ2XY [ ° ] -- ϑF14 [ ° ]
92.92 104.5382 160
100 105.0211
115 107.0888 150
130 110.5281
145 115.2451 140
160 121.0685
175 127.7062 130
190 134.7262
205 141.5941 120
220 147.7609
235 152.7492 110
 120

110
250 156.1908
265 157.8205 100
270 157.9268 90 105 120 135 150 165 180 195 210 225 240 255 270
 FPy FG2y FG3y FG4y m2 m3 m4 T12 F12x F12y F12
[ lbf ] [ lbf ] [ lbf ] [ lbf s2 / pulg ] [ lbf pulg ] [ lbf ] mód. ϑF12 [ ° ]
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -17822.942 1228.881 929.117 1540.586 217.092
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -19668.711 1262.256 964.969 1588.854 217.397
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -24094.434 1413.540 1074.664 1775.668 217.244
Ángulo de
92,92°
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -28656.518 1662.773 1236.671 2072.238 216.640
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -32289.232 1993.695 1453.540 2467.306 216.095
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -33619.884 2389.106 1720.016 2943.855 215.752
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -31203.885 2833.070 2023.595 3481.554 215.537
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -23829.646 3312.238 2346.556 4059.217 215.316
-2300 -598.3 -108 -2706 1.549 0.280 7.006 -10840.997 3815.321 2667.720 4655.471 214.962
-2300 -598.3 -108 -2706 1.549 0.280 7.006 7561.832 4330.193 2962.642 5246.696 214.379
-2300 -598.3 -108 -2706 1.549 0.280 7.006 30048.045 4838.477 3202.501 5802.316 213.500
-2300 -598.3 -108 -2706 1.549 0.280 7.006 53942.458 5308.096 3352.992 6278.411 212.280 1
-2300 -598.3 -108 -2706 1.549 0.280 7.006 75236.220 5686.824 3377.054 6613.959 210.703 0.000E+00
-2300 -598.3 -108 -2706 1.549 0.280 7.006 80932.791 5780.724 3351.284 6681.906 210.102 -5.997E-17
0.000E+00
F32y F32 F43x F43y F43 F14x F14y F14 -3.602E-18
[ lbf ] mód. ϑF32 [ ° ] [ lbf ] mód. ϑF43 [ ° ] [ lbf ] mód. ϑF14 [ ° ] -1.436E-17
-332.189 1276.188 195.09 -1232.059 -224.349 1252.318 190.320 -1236.886 4769.573 4927.343 104.538 0.000E+00
-368.041 1318.000 196.21 -1265.434 -260.202 1291.909 191.619 -1270.261 4733.720 4901.191 105.021 0
-477.736 1495.229 198.63 -1416.718 -369.896 1464.211 194.633 -1421.545 4624.026 4837.603 107.089 -13.183
-639.742 1784.691 201.01 -1665.951 -531.903 1748.804 197.707 -1670.779 4462.019 4764.569 110.528
-856.612 2172.978 203.22 -1996.873 -748.772 2132.642 200.555 -2001.700 4245.150 4693.411 115.245
-1123.088 2642.916 205.15 -2392.284 -1015.248 2598.798 202.996 -2397.111 3978.674 4644.996 121.069
-1426.667 3174.973 206.70 -2836.248 -1318.827 3127.875 204.938 -2841.075 3675.095 4645.216 127.706
-1749.628 3748.878 207.82 -3315.416 -1641.788 3699.655 206.345 -3320.243 3352.134 4718.137 134.726
-2070.792 4343.980 208.47 -3818.499 -1962.953 4293.497 207.206 -3823.327 3030.970 4878.996 141.594
-2365.714 4937.195 208.63 -4333.371 -2257.874 4886.318 207.521 -4338.199 2736.048 5128.930 147.761
-2605.573 5498.360 208.29 -4841.655 -2497.733 5447.962 207.288 -4846.482 2496.189 5451.546 152.749
-2756.064 5983.894 207.42 -5311.274 -2648.224 5934.874 206.501 -5316.102 2345.698 5810.614 156.191
-2780.126 6332.992 206.04 -5690.002 -2672.286 6286.274 205.157 -5694.829 2321.636 6149.884 157.821
-2754.355 6406.371 205.46 -5783.902 -2646.516 6360.627 204.587 -5788.730 2347.406 6246.576 157.927
ϑ2XY T12
[°] [ lbf pulg ] ϑ2XY [ ° ] -- T12 [ lbf pulg ]
92.92 -17822.942 90000
100 -19668.711
115 75000 Ángulo de
-24094.434 100°
130 -28656.518 60000
145 -32289.232 45000
160 -33619.884
175 -31203.885 30000
190 -23829.646 15000
205 -10840.997
0
220 7561.832 90 105 120 135 150 165 180 195 210 225 240 255 270
235 30048.045 -15000
250 53942.458 -30000
1
265 75236.220 0
270 -45000 5.526E-17
80932.791
0.000E+00
3.577E-18
1.461E-17
0.000E+00
0
-12.999
 6800

6100

5400

4700

4000
Gráfica
ϑ2XY -- F 3300

2600

1900

1200
90 105 120 135 150 165 180 195 210 225 240 255 270
F14 F43 F32 F12

275

250

225

200

Gráfica 175
ϑ2XY -- ϑF
150

125

100

75
125

100

75
90 105 120 135 150 165 180 195 210 225 240 255 270
ϑF14 ϑF43 ϑF32 ϑF12
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
13.183 0.672 -0.799 -0.041 0 0 0 0 1
Ángulo de
115°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -8.814 39.017 -8.814 39.017 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31 -7.785 -78.292 -12.091 0

Matriz C-1 Matriz F

8.4217149E-18 0 0.957 0.192 0.005 1.513 0.234 0.019 -3.315 1
1 0 0.103 0.543 -0.012 0.342 0.053 0.004 596.928 -2.748504541E-17
-3.748E-18 0 -0.957 -0.192 -0.005 -1.513 -0.234 -0.019 0 2.092E-16
0.000E+00 0 -0.103 -0.543 0.012 -0.342 -0.053 -0.004 0.137 2.749E-17
-2.252E-19 0 0.043 -0.192 -0.005 -1.513 -0.234 -0.019 X 107.840 3.557E-17
-8.976E-19 0 -0.103 0.457 0.012 -0.342 -0.053 -0.004 6.646 4.576E-17
0.000E+00 0 0.043 -0.192 -0.005 -0.513 -0.234 -0.019 -4.828 0
0 0 -0.103 0.457 0.012 -0.342 0.947 -0.004 4993.922 5.551E-17
-0.672 1 -13.449 -3.073 -0.060 -21.399 -3.305 -0.273 2676.822 -11.963

Matriz R
F12x = R1 1228.881
F12y = R2 929.117
F32x = R3 -1232.196
F32y = R4 -332.189
F43x = R5 -1232.059
F43y = R6 -224.349
F14x = R7 -1236.886
F14y = R8 4769.573
 T12 = R9 -17822.942

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
12.999 2.292 -0.788 -0.139 0 0 0 0 1
Ángulo de
130°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -9.639 38.821 -9.639 38.821 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.082 -7.609 -78.222 -12.534 0

Matriz C-1 Matriz F

-3.416212E-17 0 0.952 0.193 0.005 1.500 0.240 0.019 -3.315 1
1 0 0.112 0.548 -0.012 0.372 0.060 0.005 596.928 -2.842529999E-17
1.3816234E-17 0 -0.952 -0.193 -0.005 -1.500 -0.240 -0.019 0 1.9147650723E-16
0 0 -0.112 -0.548 0.012 -0.372 -0.060 -0.005 0.137 2.8425299993E-17
8.9416719E-19 0 0.048 -0.193 -0.005 -1.500 -0.240 -0.019 X 107.840 7.2574514094E-17
3.6523926E-18 0 -0.112 0.452 0.012 -0.372 -0.060 -0.005 6.646 6.4436921756E-17
0 0 0.048 -0.193 -0.005 -0.500 -0.240 -0.019 -4.828 0
0 0 -0.112 0.452 0.012 -0.372 0.940 -0.005 4993.922 1.1102230246E-16
-2.292 1 -13.399 -3.995 -0.040 -21.589 -3.459 -0.276 2676.822 -10.112

Matriz R
F12x = R1 1262.256
F12y = R2 964.969
F32x = R3 -1265.571
F32y = R4 -368.041
F43x = R5 -1265.434
F43y = R6 -260.202
F14x = R7 -1270.261
F14y = R8 4733.720
T12 = R9 -19668.711
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
11.963 5.579 -0.725 -0.338 0 0 0 0 1
Ángulo de
145°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -11.466 38.321 -11.466 38.321 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.251 -6.885 -77.910 -14.349 0

Matriz C-1 Matriz F

-7.424216E-17 0 0.940 0.200 0.005 1.470 0.271 0.019 -3.32 1
1 -3.435631E-18 0.132 0.560 -0.011 0.440 0.081 0.006 596.93 0
4.124581E-17 -1.1441E-18 -0.940 -0.200 -0.005 -1.470 -0.271 -0.019 0 -1.54330001E-16
0 3.4356307E-18 -0.132 -0.560 0.011 -0.440 -0.081 -0.006 0.14 -3.81788285E-17
9.732423E-18 1.262681E-17 0.060 -0.200 -0.005 -1.470 -0.271 -0.019 X 107.84 1.626815239E-17
1.52527E-17 0 -0.132 0.440 0.011 -0.440 -0.081 -0.006 6.65 -1.73227985E-17
0 5.0647699E-18 0.060 -0.200 -0.005 -0.470 -0.271 -0.019 -4.83 0
1.387779E-17 0 -0.132 0.440 0.011 -0.440 0.919 -0.006 4993.92 2.775557562E-17
-5.579 1 -12.707 -5.854 0.002 -21.249 -3.913 -0.273 2676.82 -7.571

Matriz R
F12x = R1 1413.540
F12y = R2 1074.664
F32x = R3 -1416.855
F32y = R4 -477.736
F43x = R5 -1416.718
F43y = R6 -369.896
F14x = R7 -1421.545
F14y = R8 4624.026
 T12 = R9 -24094.434

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
10.112 8.485 -0.613 -0.514 0 0 0 0 1
Ángulo de
160°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -13.271 37.734 -13.271 37.734 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.488 -5.703 -77.314 -17.273 0

Matriz C-1 Matriz F

-1.756719E-16 2.1958988E-17 0.925 0.213 0.006 1.434 0.320 0.019 -3.315 1
1 3.5531625E-18 0.149 0.575 -0.011 0.504 0.113 0.007 596.928 0
1.08489E-16 -1.511569E-17 -0.925 -0.213 -0.006 -1.434 -0.320 -0.019 0.000 0
2.84253E-17 -3.553162E-18 -0.149 -0.575 0.011 -0.504 -0.113 -0.007 0.137 0
1.814363E-17 -6.439156E-18 0.075 -0.213 -0.006 -1.434 -0.320 -0.019 X 107.840 0
1.610923E-17 -4.027308E-18 -0.149 0.425 0.011 -0.504 -0.113 -0.007 6.646 0
0 0 0.075 -0.213 -0.006 -0.434 -0.320 -0.019 -4.828 0
2.775558E-17 -1.040834E-17 -0.149 0.425 0.011 -0.504 0.887 -0.007 4993.922 0
-8.485 1 -11.266 -7.460 0.041 -19.921 -4.451 -0.258 2676.822 -4.515

Matriz R
F12x = R1 1662.773
F12y = R2 1236.671
F32x = R3 -1666.088
F32y = R4 -639.742
F43x = R5 -1665.951
F43y = R6 -531.903
F14x = R7 -1670.779
F14y = R8 4462.019
T12 = R9 -28656.518
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
7.57120896 10.8128069846 -0.458861149 -0.6553216354 0 0 0 0 1
Ángulo de
175°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -14.9198 37.1133 -14.9198 37.1133 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.7359 -4.1030 -76.3412 -21.1618 0

Matriz C-1 Matriz F

0 0 0.907 0.231 0.006 1.394 0.386 0.018 -3.315 1
1 0 0.164 0.593 -0.011 0.560 0.155 0.007 596.928 -0.000E+00
-3.701545E-17 0 -0.907 -0.231 -0.006 -1.394 -0.386 -0.018 0 -0.000E+00
0 0 -0.164 -0.593 0.011 -0.560 -0.155 -0.007 0.137 -0.000E+00
3.7015447E-17 0 0.093 -0.231 -0.006 -1.394 -0.386 -0.018 X 107.840 0.000E+00
0 0 -0.164 0.407 0.011 -0.560 -0.155 -0.007 6.646 0.000E+00
0 0 0.093 -0.231 -0.006 -0.394 -0.386 -0.018 -4.828 0
5.5511151E-17 0 -0.164 0.407 0.011 -0.560 0.845 -0.007 4993.922 0.000E+00
-10.813 1 -9.163 -8.650 0.076 -17.621 -4.885 -0.231 2676.822 -1.150

Matriz R
F12x = R1 1993.695
F12y = R2 1453.540
F32x = R3 -1997.010
F32y = R4 -856.612
F43x = R5 -1996.873
F43y = R6 -748.772
F14x = R7 -2001.700
F14y = R8 4245.150
T12 = R9 -32289.232

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
4.515 12.404 -0.274 -0.752 0 0 0 0 1
Ángulo de
190°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -16.322 36.518 -16.322 36.518 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.928 -2.149 -74.900 -25.804 0

Matriz C-1 Matriz F

0 0 0.887 0.252 0.007 1.350 0.465 0.018 -3.315 1
1 0 0.173 0.613 -0.011 0.604 0.208 0.008 596.928 0
0 0 -0.887 -0.252 -0.007 -1.350 -0.465 -0.018 0.000 -0.000E+00
0 0 -0.173 -0.613 0.011 -0.604 -0.208 -0.008 0.137 0
0 0 0.113 -0.252 -0.007 -1.350 -0.465 -0.018 X 107.840 0.000E+00
0 0 -0.173 0.387 0.011 -0.604 -0.208 -0.008 6.646 0
0 0 0.113 -0.252 -0.007 -0.350 -0.465 -0.018 -4.828 -0.000E+00
0 0 -0.173 0.387 0.011 -0.604 0.792 -0.008 4993.922 0.000E+00
-12.404 1 -6.527 -9.266 0.107 -14.406 -4.963 -0.192 2676.822 2.292

Matriz R
F12x = R1 2389.106
F12y = R2 1720.016
F32x = R3 -2392.421
F32y = R4 -1123.088
F43x = R5 -2392.284
F43y = R6 -1015.248
F14x = R7 -2397.111
F14y = R8 3978.674
T12 = R9 -33619.884
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
1.150 13.150 -0.070 -0.797 0 0 0 0 1
Ángulo de
205°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -17.427 36.004 -17.427 36.004 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 32.000 0.069 -72.932 -30.932 0

Matriz C-1 Matriz F

0 0 0.866 0.276 0.008 1.305 0.554 0.018 -3.315 1
1 0 0.177 0.634 -0.010 0.632 0.268 0.009 596.928 0
-1.072E-16 0 -0.866 -0.276 -0.008 -1.305 -0.554 -0.018 0 -0.000E+00
-5.189E-17 0 -0.177 -0.634 0.010 -0.632 -0.268 -0.009 0.137 -0.000E+00
-1.072E-16 0 0.134 -0.276 -0.008 -1.305 -0.554 -0.018 X 107.840 0.000E+00
-5.189E-17 0 -0.177 0.366 0.010 -0.632 -0.268 -0.009 6.646 0.000E+00
0 0 0.134 -0.276 -0.008 -0.305 -0.554 -0.018 -4.828 -0.000E+00
-1.110E-16 0 -0.177 0.366 0.010 -0.632 0.732 -0.009 4993.922 -0.000E+00
-13.150 1 -3.530 -9.175 0.133 -10.405 -4.413 -0.143 2676.822 5.579

Matriz R
F12x = R1 2833.070
F12y = R2 2023.595
F32x = R3 -2836.385
F32y = R4 -1426.667
F43x = R5 -2836.248
F43y = R6 -1318.827
F14x = R7 -2841.075
F14y = R8 3675.095
 T12 = R9 -31203.885

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-2.292 12.999 0.139 -0.788 0 0 0 0 1
Ángulo de
220°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -18.215 35.612 -18.215 35.612 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.908 2.431 -70.449 -36.232 0

Matriz C-1 Matriz F

0 0 0.845 0.303 0.009 1.262 0.649 0.018 -3.315 1
1 1.95762274E-17 0.177 0.655 -0.010 0.645 0.332 0.009 596.928 0.000E+00
-0.000E+00 0 -0.845 -0.303 -0.009 -1.262 -0.649 -0.018 0.000 -0.000E+00
-0.000E+00 0 -0.177 -0.655 0.010 -0.645 -0.332 -0.009 0.137 -0.000E+00
0.000E+00 0 0.155 -0.303 -0.009 -1.262 -0.649 -0.018 X 107.840 0.000E+00
0.000E+00 0 -0.177 0.345 0.010 -0.645 -0.332 -0.009 6.646 0.000E+00
-0.000E+00 0 0.155 -0.303 -0.009 -0.262 -0.649 -0.018 -4.828 0
0.000E+00 0 -0.177 0.345 0.010 -0.645 0.668 -0.009 4993.922 -0.000E+00
-12.999 1 -0.379 -8.292 0.154 -5.831 -2.999 -0.083 2676.822 8.485

Matriz R
F12x = R1 3312.2376
F12y = R2 2346.5559
F32x = R3 -3315.5528
F32y = R4 -1749.6278
F43x = R5 -3315.4156
F43y = R6 -1641.7881
F14x = R7 -3320.2432
F14y = R8 3352.1340
T12 = R9 -23829.6457
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-5.579 11.963 0.338 -0.725 0 0 0 0 1
Ángulo de
235°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -18.682 35.369 -18.682 35.369 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.638 4.797 -67.559 -41.371 0

Matriz C-1 Matriz F

0 0 0.825 0.331 0.009 1.223 0.749 0.018 -3.315 1
1 0 0.172 0.675 -0.009 0.646 0.396 0.010 596.928 0
0 0 -0.825 -0.331 -0.009 -1.223 -0.749 -0.018 0 0
0 0 -0.172 -0.675 0.009 -0.646 -0.396 -0.010 0.137 0
0 0 0.175 -0.331 -0.009 -1.223 -0.749 -0.018 X 107.840 0
0 0 -0.172 0.325 0.009 -0.646 -0.396 -0.010 6.646 0
0 0 0.175 -0.331 -0.009 -0.223 -0.749 -0.018 -4.828 0
0 0 -0.172 0.325 0.009 -0.646 0.604 -0.010 4993.922 0
-11.963 1 2.703 -6.604 0.172 -0.960 -0.588 -0.014 2676.822 10.813

Matriz R
F12x = R1 3815.321
F12y = R2 2667.720
F32x = R3 -3818.637
F32y = R4 -2070.792
F43x = R5 -3818.499
F43y = R6 -1962.953
F14x = R7 -3823.327
F14y = R8 3030.970
 T12 = R9 -10840.997

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-8.485 10.112 0.514 -0.613 0 0 0 0 1
Ángulo de
250°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -18.828 35.292 -18.828 35.292 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 31.222 7.012 -64.480 -46.023 0

Matriz C-1 Matriz F

0 0 0.808 0.361 0.010 1.193 0.851 0.018 -3.315 1
1 0 0.164 0.692 -0.009 0.636 0.454 0.010 596.928 0.000E+00
-0.000E+00 0 -0.808 -0.361 -0.010 -1.193 -0.851 -0.018 0 -0.000E+00
-0.000E+00 0 -0.164 -0.692 0.009 -0.636 -0.454 -0.010 0.137 -0.000E+00
0.000E+00 0 0.192 -0.361 -0.010 -1.193 -0.851 -0.018 X 107.840 0.000E+00
0.000E+00 0 -0.164 0.308 0.009 -0.636 -0.454 -0.010 6.646 0.000E+00
0 0 0.192 -0.361 -0.010 -0.193 -0.851 -0.018 -4.828 0
-0.000E+00 0 -0.164 0.308 0.009 -0.636 0.546 -0.010 4993.922 0.000E+00
-10.112 1 5.507 -4.180 0.185 3.908 2.790 0.061 2676.822 12.404

Matriz R
F12x = R1 4330.193
F12y = R2 2962.642
F32x = R3 -4333.509
F32y = R4 -2365.714
F43x = R5 -4333.371
F43y = R6 -2257.874
F14x = R7 -4338.199
F14y = R8 2736.048
T12 = R9 7561.832
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-10.813 7.571 0.655 -0.459 0 0 0 0 1
Ángulo de
265°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -18.650 35.386 -18.650 35.386 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 30.734 8.910 -61.541 -49.885 0

Matriz C-1 Matriz F

0 0 0.794 0.391 0.011 1.174 0.952 0.019 -3.315 1
1 0 0.155 0.706 -0.008 0.619 0.502 0.010 596.928 0.00E+00
-1.563143E-16 0 -0.794 -0.391 -0.011 -1.174 -0.952 -0.019 0 -4.17E-17
-8.238278E-17 0 -0.155 -0.706 0.008 -0.619 -0.502 -0.010 0.137 0.00E+00
-1.563143E-16 0 0.206 -0.391 -0.011 -1.174 -0.952 -0.019 X 107.840 3.02E-16
-8.238278E-17 0 -0.155 0.294 0.008 -0.619 -0.502 -0.010 6.646 1.2452341495E-16
0 0 0.206 -0.391 -0.011 -0.174 -0.952 -0.019 -4.828 0
-1.110223E-16 0 -0.155 0.294 0.008 -0.619 0.498 -0.010 4993.922 5.55E-17
-7.571 1 7.861 -1.186 0.193 8.498 6.888 0.138 2676.822 13.150

Matriz R
F12x = R1 4838.477
F12y = R2 3202.501
F32x = R3 -4841.792
F32y = R4 -2605.573
F43x = R5 -4841.655
F43y = R6 -2497.733
F14x = R7 -4846.482
F14y = R8 2496.189
 T12 = R9 30048.045

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-12.404 4.515 0.752 -0.3 0 0 0 0 1
Ángulo de
270°
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -18.138 35.651 -18.138 35.651 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 30.287 10.329 -59.158 -52.690 0

Matriz C-1 Matriz F

7.160453E-17 0 0.786 0.420 0.012 1.173 1.045 0.020 -3.315 1
1 2.936505E-18 0.146 0.714 -0.008 0.597 0.532 0.010 596.928 4.887408066E-17
-8.229281E-17 -5.7718E-18 -0.786 -0.420 -0.012 -1.173 -1.045 -0.020 0.000 -4.046E-17
-4.186788E-17 -2.9365E-18 -0.146 -0.714 0.008 -0.597 -0.532 -0.010 0.137 -4.887408066E-17
-8.229281E-17 -5.7718E-18 0.214 -0.420 -0.012 -1.173 -1.045 -0.020 X 107.840 -9.547E-18
-4.186788E-17 -2.9365E-18 -0.146 0.286 0.008 -0.597 -0.532 -0.010 6.646 0
0 -9.64797E-18 0.214 -0.420 -0.012 -0.173 -1.045 -0.020 -4.828 0
-5.551115E-17 6.938894E-18 -0.146 0.286 0.008 -0.597 0.468 -0.010 4993.922 0.000E+00
-4.515 1 9.647 2.109 0.193 12.577 11.202 0.213 2676.822 13.200

Matriz R
F12x = R1 5308.096
F12y = R2 3352.992
F32x = R3 -5311.412
F32y = R4 -2756.064
F43x = R5 -5311.274
F43y = R6 -2648.224
F14x = R7 -5316.102
F14y = R8 2345.698
T12 = R9 53942.458
 Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-13.150 1.150 0.797 -0.070 0 0 0 0 1
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -17.284 36.073 -17.284 36.073 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 30.009 11.113 -57.768 -54.210 0

Matriz C-1 Matriz F

-1.68858166E-17 -1.6885817E-17 0.787 0.445 0.012 1.193 1.120 0.021 -3.315
1 -6.5436412E-18 0.137 0.713 -0.008 0.572 0.537 0.010 596.928
1.37E-17 2.40727273E-17 -0.787 -0.445 -0.012 -1.193 -1.120 -0.021 0
6.54E-18 6.54364123E-18 -0.137 -0.713 0.008 -0.572 -0.537 -0.010 0.137
0.00E+00 9.07654585E-18 0.213 -0.445 -0.012 -1.193 -1.120 -0.021 X 107.840
0.00E+00 9.33925612E-18 -0.137 0.287 0.008 -0.572 -0.537 -0.010 6.646
0.00E+00 0 0.213 -0.445 -0.012 -0.193 -1.120 -0.021 -4.828
0.00E+00 6.9388939E-18 -0.137 0.287 0.008 -0.572 0.463 -0.010 4993.922
-1.150 1 10.805 5.338 0.182 15.945 14.963 0.276 2676.822

Matriz R
F12x = R1 5686.824
F12y = R2 3377.054
F32x = R3 -5690.139
F32y = R4 -2780.126
F43x = R5 -5690.002
F43y = R6 -2672.286
F14x = R7 -5694.829
F14y = R8 2321.636
 T12 = R9 75236.220

Matriz C
1 0 1 0 0 0 0 0 0
0 1 0 1 0 0 0 0 0
-13.200 0.000 0.800 0.000 0 0 0 0 1
0 0 -1 0 1 0 0 0 0
0 0 0 -1 0 1 0 0 0
0 0 -16.922 36.244 -16.922 36.244 0 0 0
0 0 0 0 -1 0 1 0 0
0 0 0 0 0 -1 0 1 0
0 0 0 0 29.973 11.209 -57.593 -54.396 0

Matriz C-1 Matriz F

-5.97621898E-32 0 0.789 0.452 0.012 1.205 1.138 0.021 -3.315
1 0 0.135 0.711 -0.008 0.563 0.532 0.010 596.928
5.879E-32 0 -0.789 -0.452 -0.012 -1.205 -1.138 -0.021 0
2.170445186E-32 0 -0.135 -0.711 0.008 -0.563 -0.532 -0.010 0.137
3.626E-32 0 0.211 -0.452 -0.012 -1.205 -1.138 -0.021 X 107.840
2.267248379E-32 0 -0.135 0.289 0.008 -0.563 -0.532 -0.010 6.646
0 0 0.211 -0.452 -0.012 -0.205 -1.138 -0.021 -4.828
2.465E-32 0 -0.135 0.289 0.008 -0.563 0.468 -0.010 4993.922
0.000 1 11.046 6.327 0.175 16.874 15.937 0.293 2676.822

Matriz R
F12x = R1 5780.724
F12y = R2 3351.284
F32x = R3 -5784.039
F32y = R4 -2754.355
F43x = R5 -5783.902
F43y = R6 -2646.516
F14x = R7 -5788.730
F14y = R8 2347.406
T12 = R9 80932.791