Eslabn 1 Eslabn 2 Eslabn 3 Eslabn 4

q2 w2 a2 Rpa q4 q3
a b c
d (pulg) (pulg) (rad/s^2) (pulg)
(pulg) (pulg) (grados) (rad/s) (grados) (grados)

6 2 7 9 30 10 0 6 117.29 88.84
7 9 3 8 85 -12 5 9 120.25 -43.23
3 10 6 8 45 -15 -10 10 16.49 -53.13
8 5 7 6 25 24 -4 5 62.76 27.40
8 5 8 6 75 -50 10 9 78.21 7.50
5 8 8 9 15 -45 50 10 -25.02 -47.27
6 8 8 9 25 100 18 4 7.24 -16.31
20 10 10 10 50 -65 25 6 111.75 9.37
4 5 2 5 80 25 -25 9 103.09 -1.55
20 10 5 10 33 25 -40 1 133.89 20.61
4 6 10 7 88 -80 30 10 31.91 -13.28
9 7 10 7 60 -90 20 5 50.24 -3.90
9 7 11 8 50 75 -5 10 35.91 -3.49
9 7 11 6 120 15 -65 15 104.51 -1.32
w3 w4 A B C D E F a3 a4
(rad/s) (rad/s) (rad/s^2) (rad/s^2)

-5.99 -3.99 8.00 7.00 244.05 -4.13 0.14 -223.74 26.08 53.33
73.06 -37.29 6.91 -2.05 17429.03 -4.03 2.19 19291.97 -29826.85 11390.59
-12.73 -19.80 2.27 -4.80 -903.92 7.67 3.60 6.38 -154.42 -71.64
-18.14 -1.45 5.33 3.22 4640.96 2.75 6.21 -2284.18 1025.68 1489.36
1.86 -40.78 5.87 1.04 1272.06 1.23 7.93 -2295.08 331.94 275.57
-76.41 -93.49 -3.81 -5.88 -23844.85 8.16 5.43 -2766.98 -7518.18 -5343.21
76.36 146.87 1.13 -2.25 -75261.42 8.93 7.68 3877.09 -23510.10 -19783.13
58.62 -43.34 9.29 1.63 68214.31 -3.71 9.87 -20354.79 -652.26 7229.94
-25.33 25.56 4.87 -0.05 2442.48 -1.13 2.00 116.57 -344.56 505.35
-53.45 5.84 7.21 1.76 18632.30 -6.93 4.68 -8521.96 -1475.61 2225.21
-56.16 -94.80 3.70 -2.30 -21187.82 5.94 9.73 2122.02 -2693.56 -4054.70
-13.17 -99.72 5.38 -0.68 -14315.59 4.48 9.98 4597.28 -1565.62 -2462.16
18.30 83.09 4.69 -0.67 -15774.30 6.48 10.98 2437.79 -2034.35 -3071.18
2.65 15.54 5.81 -0.25 -741.40 -1.50 11.00 267.84 -6.95 -127.33
 (A)ax (A)ay Aa (A)bx (A)by Ab
(pulg/s^2) (pulg/s^2) (pulg/s^2) (pulg/s^2) (pulg/s^2) (pulg/s^2)

-173.21 -100.00 200.00 -360.83 -347.49 500.94

-157.78 -1287.15 1296.78 -73114.99 -55512.97 91801.37
-1520.28 -1661.70 2252.22 -2844.78 -1439.86 3188.41
-2601.71 -1235.27 2880.07 -7951.02 4078.84 8936.20
-3283.53 -12061.13 12500.10 -3657.33 -9431.88 10116.15
-15751.53 -3806.50 16204.94 -91622.43 -10309.30 92200.60
-72565.48 -33678.95 80000.13 -170165.60 -201083.29 263421.37
-27349.29 -32204.68 42250.74 -60193.66 -44233.74 74698.73
-419.55 -3099.23 3127.50 -1721.33 -3753.46 4129.34
-5023.84 -3739.46 6262.79 -15798.90 -15673.74 22254.69
-1520.03 -38370.33 38400.42 -38397.43 -57344.83 69012.99
-28471.24 -49033.64 56700.17 -31268.62 -64535.32 71711.47
-25282.95 -30185.50 39375.02 -30321.06 -52297.61 60451.69
1181.54 -1136.49 1639.41 1102.53 -1211.18 1637.84
Eslabn 2 Eslabn 3 Descentrado
a b c q2 w2 q3 w3 a2
(pulg) (pulg) (pulg) (grados) (rad/s) (grados) (rad/s) (rad/s^2)

1.4 4 1 45 10 180.14 -2.47 0

2 6 -3 60 -12 127.94 3.25 5
3 8 2 -30 -15 205.94 5.42 -10
3.5 10 1 120 24 168.28 4.29 -4
5 20 -5 225 -50 175.80 -8.86 10
3 13 0 100 -45 166.86 -1.85 50
7 25 10 330 100 212.68 -28.81 18
 Aa a3 (A)ab Ab (
)
(pulg/s^2) (rad/s^2) (pulg/s^2) (pulg/s^2)

140 24.7642054 102.041715 -123.74392

288.173559 52.6828159 322.410717 57.6010675
675.666338 -29.025463 330.214224 -709.09887
2016.04861 173.775874 1747.47184 1192.92348
12500.1 -447.12566 9079.44598 6652.68403
6076.85157 473.831191 6159.96677 2263.68039
70000.1134 -1136.0142 35173.6222 -62687.967