l1 [in] l2 [in] l3 [in] l4 [in] l5 [in] Grasshof

1 2 3 3 4 4 5
gmin [rad]
0 0.944444444 0.334896158 0.5
q1 [rad] 19.18813645
0

q2 [°] q2 [rad] A B C
0 0 -1 -6 0 1260
5 0.087266463 -1.01522121 -5.95433638 1.045868913 1259.2342996
10 0.174532925 -1.06076899 -5.81769304 2.083778132 1254.3991805
15 0.261799388 -1.13629669 -5.59110992 3.105828541 1238.4010761
20 0.34906585 -1.24122952 -5.27631145 4.10424172 1201.0949659
25 0.436332313 -1.37476885 -4.87569344 5.071419141 1131.6057584
30 0.523598776 -1.53589838 -4.39230485 6 1021.2084382
35 0.610865238 -1.72339182 -3.82982453 6.882917236 866.44224958
40 0.698131701 -1.93582223 -3.19253332 7.713451316 672.10056322
45 0.785398163 -2.17157288 -2.48528137 8.485281374 453.74028956
50 0.872664626 -2.42884956 -1.71345132 9.192533317 239.39241135
55 0.959931089 -2.70569425 -0.88291724 9.829824531 70.22450282
60 1.047197551 -3 0 10.39230485 0
65 1.134464014 -3.30952695 0.928580859 10.87569344 93.288171773
70 1.221730476 -3.63191943 1.89575828 11.27631145 422.49256902
75 1.308996939 -3.96472382 2.894171459 11.59110992 1063.8733383
80 1.396263402 -4.30540729 3.916221868 11.81769304 2092.8301986
85 1.483529864 -4.65137703 4.954131087 11.95433638 3578.7799882
90 1.570796327 -5 6 12 5580
95 1.658062789 -5.34862297 7.045868913 11.95433638 8138.8134345
100 1.745329252 -5.69459271 8.083778132 11.81769304 11277.466965
105 1.832595715 -6.03527618 9.105828541 11.59110992 14994.996365
110 1.919862177 -6.36808057 10.10424172 11.27631145 19265.300526
115 2.00712864 -6.69047305 11.07141914 10.87569344 24036.554804
120 2.094395102 -7 12 10.39230485 29232
125 2.181661565 -7.29430575 12.88291724 9.829824531 34752.051844
130 2.268928028 -7.57115044 13.71345132 9.192533317 40477.594856
135 2.35619449 -7.82842712 14.48528137 8.485281374 46274.25971
140 2.443460953 -8.06417777 15.19253332 7.713451316 51997.438069
145 2.530727415 -8.27660818 15.82982453 6.882917236 57497.764602
150 2.617993878 -8.46410162 16.39230485 6 62626.791562
155 2.705260341 -8.62523115 16.87569344 5.071419141 67242.593967
160 2.792526803 -8.75877048 17.27631145 4.10424172 71215.069238
165 2.879793266 -8.86370331 17.59110992 3.105828541 74430.729221
170 2.967059728 -8.93923101 17.81769304 2.083778132 76796.820457
175 3.054326191 -8.98477879 17.95433638 1.045868913 78244.646378
180 3.141592654 -9 18 1.46958E-15 78732
185 3.228859116 -8.98477879 17.95433638 -1.04586891 78244.646378
190 3.316125579 -8.93923101 17.81769304 -2.08377813 76796.820457
195 3.403392041 -8.86370331 17.59110992 -3.10582854 74430.729221
200 3.490658504 -8.75877048 17.27631145 -4.10424172 71215.069238
205 3.577924967 -8.62523115 16.87569344 -5.07141914 67242.593967
210 3.665191429 -8.46410162 16.39230485 -6 62626.791562
215 3.752457892 -8.27660818 15.82982453 -6.88291724 57497.764602
220 3.839724354 -8.06417777 15.19253332 -7.71345132 51997.438069
225 3.926990817 -7.82842712 14.48528137 -8.48528137 46274.25971
230 4.01425728 -7.57115044 13.71345132 -9.19253332 40477.594856
235 4.101523742 -7.29430575 12.88291724 -9.82982453 34752.051844
240 4.188790205 -7 12 -10.3923048 29232
245 4.276056667 -6.69047305 11.07141914 -10.8756934 24036.554804
250 4.36332313 -6.36808057 10.10424172 -11.2763114 19265.300526
255 4.450589593 -6.03527618 9.105828541 -11.5911099 14994.996365
260 4.537856055 -5.69459271 8.083778132 -11.817693 11277.466965
265 4.625122518 -5.34862297 7.045868913 -11.9543364 8138.8134345
270 4.71238898 -5 6 -12 5580
275 4.799655443 -4.65137703 4.954131087 -11.9543364 3578.7799882
280 4.886921906 -4.30540729 3.916221868 -11.817693 2092.8301986
285 4.974188368 -3.96472382 2.894171459 -11.5911099 1063.8733383
290 5.061454831 -3.63191943 1.89575828 -11.2763114 422.49256902
295 5.148721293 -3.30952695 0.928580859 -10.8756934 93.288171773
300 5.235987756 -3 0 -10.3923048 0
305 5.323254219 -2.70569425 -0.88291724 -9.82982453 70.22450282
310 5.410520681 -2.42884956 -1.71345132 -9.19253332 239.39241135
315 5.497787144 -2.17157288 -2.48528137 -8.48528137 453.74028956
320 5.585053606 -1.93582223 -3.19253332 -7.71345132 672.10056322
325 5.672320069 -1.72339182 -3.82982453 -6.88291724 866.44224958
330 5.759586532 -1.53589838 -4.39230485 -6 1021.2084382
335 5.846852994 -1.37476885 -4.87569344 -5.07141914 1131.6057584
340 5.934119457 -1.24122952 -5.27631145 -4.10424172 1201.0949659
345 6.021385919 -1.13629669 -5.59110992 -3.10582854 1238.4010761
350 6.108652382 -1.06076899 -5.81769304 -2.08377813 1254.3991805
355 6.195918845 -1.01522121 -5.95433638 -1.04586891 1259.2342996
360 6.283185307 -1 -6 -2.93915E-15 1260
 gmax [rad]
1.047197551
60

senq3n senq3p cosq3n cosq3p

-0.9860133 0.986013297 0 -0.16666667 -0.16666667 1 1 0
-0.99998677 0.941882937 38.85029514 -0.33594126 0.005144799 1.11 0 1
-0.9853414 0.869575944 160.9300361 -0.49379923 0.170594059 1.21 0 1
-0.94654626 0.77400023 382.1379889 -0.63318532 0.322568099 1.3 0 1
-0.88960007 0.661586638 726.7455177 -0.74986874 0.456740322 1.35 0 1
-0.82056981 0.538824304 1224.281751 -0.84241817 0.57154631 1.38 0 1
-0.74461925 0.411285921 1905.600888 -0.91150639 0.66748945 1.39 0 1
-0.66563431 0.283250023 2798.510642 -0.9590461 0.746278072 1.36 0 1
-0.58626786 0.157742789 3923.384467 -0.98748023 0.810117272 1.32 0 1
-0.50817732 0.036772803 5289.184422 -0.99932365 0.861252464 1.26 0 1
-0.43229876 -0.07839753 6890.286266 -0.99692218 0.901730437 1.18 0 1
-0.35908329 -0.18701807 8704.427529 -0.98235647 0.933305517 1.09 0 1
-0.28867513 -0.28867513 10692 -0.95742711 0.957427108 1 1 0
-0.38316974 -0.22103545 12796.78998 -0.92367795 0.975265773 1 1 0
-0.47043749 -0.15602425 14948.14413 -0.88243332 0.987753224 1 1 0
-0.55049807 -0.09345248 17064.41721 -0.83483644 0.995623741 1 1 0
-0.62342433 -0.03311418 19057.45167 -0.78188369 0.999451575 1 1 0
-0.68932413 0.025194329 20837.75639 -0.72445307 0.999682573 1 1 0
-0.74832999 0.08166332 22320 -0.66332664 0.996659973 1 1 0
-0.80059345 0.136463651 23428.4156 -0.59920792 0.990645079 1 1 0
-0.8462822 0.189743694 24101.72922 -0.53273487 0.981833657 1 1 0
-0.88557858 0.241628032 24297.2698 -0.46448958 0.970368947 1 1 0
-0.91867887 0.292217119 23993.98919 -0.39500524 0.956352004 1 1 0
-0.94579263 0.341587436 23194.20811 -0.32477116 0.939850001 1 1 0
-0.96714213 0.389791858 21924 -0.25423632 0.920902985 1 1 0
-0.98296145 0.436860084 20232.22047 -0.18381185 0.89952947 1 1 0
-0.99349534 0.482799046 18188.27811 -0.11387276 0.875731169 1 1 0
-0.9989978 0.527593282 15878.81558 -0.04475925 0.849497104 1 1 0
-0.99973032 0.571205251 13403.52526 0.023222367 0.820807262 1 1 0
-0.99595993 0.613575641 10870.35816 0.089798746 0.78963595 1 1 0
-0.987957 0.654623668 8390.399112 0.154728675 0.755954928 1 1 0
-0.97599295 0.694247441 6072.677451 0.217802121 0.719736404 1 1 0
-0.96033782 0.732324392 4019.163862 0.278839146 0.680955934 1 1 0
-0.94125788 0.768711848 2320.174999 0.337688625 0.639595259 1 1 0
-0.9190132 0.803247748 1050.372267 0.39422676 0.595645075 1 1 0
-0.89385539 0.835751561 265.5036072 0.448355375 0.549107757 1 1 0
-0.8660254 0.866025404 0 0.5 0.5 1 1 0
-0.83575156 0.893855389 265.5036072 0.448355375 0.549107757 0.9 0 1
-0.80324775 0.9190132 1050.372267 0.39422676 0.595645075 0.8 0 1
-0.76871185 0.941257878 2320.174999 0.337688625 0.639595259 0.7 0 1
-0.73232439 0.960337821 4019.163862 0.278839146 0.680955934 0.61 0 1
-0.69424744 0.975992949 6072.677451 0.217802121 0.719736404 0.53 0 1
-0.65462367 0.987957002 8390.399112 0.154728675 0.755954928 0.45 0 1
-0.61357564 0.995959931 10870.35816 0.089798746 0.78963595 0.38 0 1
-0.57120525 0.999730324 13403.52526 0.023222367 0.820807262 0.33 0 1
-0.52759328 0.998997803 15878.81558 -0.04475925 0.849497104 0.28 0 1
-0.48279905 0.993495342 18188.27811 -0.11387276 0.875731169 0.25 0 1
-0.43686008 0.982961447 20232.22047 -0.18381185 0.89952947 0.22 0 1
-0.38979186 0.967142127 21924 -0.25423632 0.920902985 0.22 0 1
-0.34158744 0.945792627 23194.20811 -0.32477116 0.939850001 0.22 0 1
-0.29221712 0.918678866 23993.98919 -0.39500524 0.956352004 0.24 0 1
-0.24162803 0.885578583 24297.2698 -0.46448958 0.970368947 0.27 0 1
-0.18974369 0.846282196 24101.72922 -0.53273487 0.981833657 0.32 0 1
-0.13646365 0.80059345 23428.4156 -0.59920792 0.990645079 0.38 0 1
-0.08166332 0.748329987 22320 -0.66332664 0.996659973 0.45 0 1
-0.02519433 0.689324127 20837.75639 -0.72445307 0.999682573 0.53 0 1
0.033114177 0.623424325 19057.45167 -0.78188369 0.999451575 0.61 0 1
0.093452483 0.550498068 17064.41721 -0.83483644 0.995623741 0.71 0 1
0.156024253 0.470437494 14948.14413 -0.88243332 0.987753224 0.8 0 1
0.221035453 0.383169739 12796.78998 -0.92367795 0.975265773 0.9 0 1
0.288675135 0.288675135 10692 -0.95742711 0.957427108 1 1 0
0.187018068 0.359083295 8704.427529 -0.98235647 0.933305517 1 1 0
0.078397534 0.432298761 6890.286266 -0.99692218 0.901730437 1 1 0
-0.0367728 0.508177324 5289.184422 -0.99932365 0.861252464 1 1 0
-0.15774279 0.586267862 3923.384467 -0.98748023 0.810117272 1 1 0
-0.28325002 0.665634314 2798.510642 -0.9590461 0.746278072 1 1 0
-0.41128592 0.744619255 1905.600888 -0.91150639 0.66748945 1 1 0
-0.5388243 0.820569812 1224.281751 -0.84241817 0.57154631 1 1 0
-0.66158664 0.889600066 726.7455177 -0.74986874 0.456740322 1 1 0
-0.77400023 0.94654626 382.1379889 -0.63318532 0.322568099 1 1 0
-0.86957594 0.985341396 160.9300361 -0.49379923 0.170594059 1 1 0
-0.94188294 0.999986765 38.85029514 -0.33594126 0.005144799 1 1 0
-0.9860133 0.986013297 0 -0.16666667 -0.16666667 1 1 0
 q31 [rad] q31 [°] Xc1 Yc1
1.738244406 4.544940901 260.4059318 1.5 -2.95803989 1
1.565651505 4.717533802 270.2947766 2.007823793 -2.82564881 1
1.399363793 4.883821514 279.8223607 2.481397682 -2.60872783 1
1.242354964 5.040830343 288.8183039 2.899555948 -2.32200069 1
1.096468796 5.186716511 297.1769656 3.249606207 -1.98475991 1
0.962407271 5.320778036 304.8581252 3.527254504 -1.61647291 1
0.839964246 5.443221062 311.8735938 3.734519156 -1.23385776 1
0.728343466 5.554841842 318.2689934 3.877138304 -0.84975007 1
0.626444208 5.656741099 324.1073908 3.962440702 -0.47322837 1
0.533067157 5.75011815 329.4575017 3.997970955 -0.11031841 1
0.447040501 5.836144806 334.386466 3.99076653 0.235192603 1
0.367285494 5.915899813 338.9560913 3.947069422 0.561054204 1
2.848749882 3.434435425 196.7786549 -1.87228132 0.866025404 1
2.74836714 3.534818167 202.5301623 -1.92579732 0.663106358 0.9
2.65180616 3.631379147 208.062699 -1.96325967 0.46807276 0.8
2.558631928 3.724553379 213.4011892 -1.98687122 0.28035745 0.71
2.468477973 3.814707335 218.5666304 -1.99835473 0.09934253 0.61
2.381036957 3.90214835 223.5766315 -1.99904772 -0.07558299 0.53
2.296051796 3.987133511 228.4459225 -1.98997992 -0.24498996 0.45
2.213307699 4.069877608 233.1868101 -1.97193524 -0.40939095 0.38
2.132625249 4.150560058 237.809574 -1.94550097 -0.56923108 0.32
2.053854486 4.229330821 242.3228062 -1.91110684 -0.7248841 0.27
1.976869884 4.306315424 246.733699 -1.86905601 -0.87665136 0.24
1.901566088 4.381619219 251.0482887 -1.81955 -1.02476231 0.22
1.827854321 4.455330987 255.2716619 -1.76270895 -1.16937557 0.22
1.755659303 4.527526005 259.4081317 -1.69858841 -1.31058025 0.22
1.684916635 4.598268672 263.461388 -1.62719351 -1.44839714 0.25
1.615570535 4.667614772 267.4346269 -1.54849131 -1.58277985 0.28
1.547571872 4.735613435 271.3306632 -1.46242179 -1.71361575 0.33
1.480876454 4.802308854 275.1520292 -1.36890785 -1.84072692 0.38
1.415443512 4.867741795 278.9010606 -1.26786478 -1.96387101 0.45
1.351234366 4.931950941 282.5799737 -1.15920921 -2.08274232 0.53
1.288211228 4.99497408 286.1909335 -1.0428678 -2.19697318 0.61
1.226336138 5.05684917 289.736115 -0.91878578 -2.30613554 0.7
1.165570008 5.117615299 293.2177578 -0.78693522 -2.40974324 0.8
1.105871761 5.177313546 296.6382154 -0.64732327 -2.50725468 0.9
1.047197551 5.235987756 300 -0.5 -2.59807621 1
0.989500058 5.293685249 303.3058229 -0.34506613 -2.68156617 1
0.932727834 5.350457474 306.5586317 -0.18268028 -2.7570396 1
0.876824695 5.406360612 309.7616456 -0.01306588 -2.82377363 1
 0.82172914 5.461456167 312.9183884 0.163482562 -2.88101346 1
0.767373769 5.515811538 316.0327217 0.346593637 -2.92797885 1
0.71368469 5.569500617 319.1088793 0.535813976 -2.96387101 1
0.660580882 5.622604425 322.1515034 0.730603761 -2.98787979 1
0.607973479 5.675211828 325.1656856 0.930332899 -2.99919097 1
0.555764955 5.727420352 328.1570137 1.134277748 -2.99699341 1
0.503848146 5.779337161 331.1316277 1.341618289 -2.98048602 1
0.452105082 5.831080225 334.0962869 1.551435537 -2.94888434 1
0.400405563 5.882779745 337.0584512 1.762708954 -2.90142638 1
0.348605411 5.934579896 340.0263812 1.974313478 -2.83737788 1
0.296544328 5.986640979 343.0092616 2.185015725 -2.7560366 1
0.244043247 6.03914206 346.0173519 2.393468752 -2.65673575 1
0.190901092 6.092284215 349.0621731 2.598204616 -2.53884659 1
0.136890786 6.146294521 352.1567357 2.79762375 -2.40178035 1
0.081754361 6.201430946 355.3158202 2.98997992 -2.24498996 1
0.025196995 6.257988312 358.5563185 3.173359203 -2.06797238 1
0.033120231 0.033120231 1.89764948 3.345651081 -1.87027298 1
0.093589046 0.093589046 5.362257368 3.504509313 -1.6514942 1
0.156664321 0.156664321 8.976204402 3.64729996 -1.41131248 1
0.222876056 0.222876056 12.76985738 3.771033844 -1.14950922 1
2.848749882 2.848749882 163.2213451 -1.87228132 -0.8660254 1
2.953466878 2.953466878 169.2211871 -1.79991655 -1.07724988 1.09
3.063114589 3.063114589 175.5035381 -1.70519131 -1.29689628 1.18
3.104811558 3.17837375 182.1074016 -1.58375739 -1.52453197 1.26
2.98318825 3.299997058 189.0759038 -1.43035182 -1.75880359 1.32
2.854411425 3.428773883 196.4542724 -1.23883422 -1.99690294 1.36
2.717728274 3.565457033 204.28564 -1.00246835 -2.23385776 1.39
2.572551789 3.710633518 212.6036399 -0.71463893 -2.46170943 1.38
2.418659975 3.864525332 221.4209913 -0.37022097 -2.6688002 1.35
2.25645804 4.026727267 230.7144777 0.032295704 -2.83963878 1.3
2.087249744 4.195935563 240.4093989 0.488217824 -2.95602419 1.21
1.913400722 4.369784585 250.3702141 0.984565603 -2.9999603 1.11
1.738244406 4.544940901 260.4059318 1.5 -2.95803989 1
 q32 [rad] q32 [°] Xc2 Yc2
1 0 1.738244406 1.738244406 99.59406823 1.5 2.958039892
1 0 1.913400722 1.913400722 109.6297859 0.984565603 2.999960296
1 0 2.087249744 2.087249744 119.5906011 0.488217824 2.956024189
1 0 2.25645804 2.25645804 129.2855223 0.032295704 2.839638779
1 0 2.418659975 2.418659975 138.5790087 -0.37022097 2.668800199
1 0 2.572551789 2.572551789 147.3963601 -0.71463893 2.461709435
1 0 2.717728274 2.717728274 155.71436 -1.00246835 2.233857764
1 0 2.854411425 2.854411425 163.5457276 -1.23883422 1.996902941
1 0 2.98318825 2.98318825 170.9240962 -1.43035182 1.758803585
1 0 3.104811558 3.104811558 177.8925984 -1.58375739 1.524531972
1 0 3.063114589 3.220070718 184.4964619 -1.70519131 1.296896284
1 0 2.953466878 3.329718429 190.7788129 -1.79991655 1.077249885
1 0 2.848749882 3.434435425 196.7786549 -1.87228132 0.866025404
0 1 0.222876056 6.060309251 347.2301426 3.771033844 1.149509216
0 1 0.156664321 6.126520986 351.0237956 3.64729996 1.411312482
0 1 0.093589046 6.189596261 354.6377426 3.504509313 1.651494203
0 1 0.033120231 6.250065076 358.1023505 3.345651081 1.870272976
0 1 0.025196995 0.025196995 1.443681463 3.173359203 2.067972382
0 1 0.081754361 0.081754361 4.684179831 2.98997992 2.24498996
0 1 0.136890786 0.136890786 7.843264278 2.79762375 2.40178035
0 1 0.190901092 0.190901092 10.93782688 2.598204616 2.538846589
0 1 0.244043247 0.244043247 13.98264806 2.393468752 2.656735748
0 1 0.296544328 0.296544328 16.99073842 2.185015725 2.756036598
0 1 0.348605411 0.348605411 19.97361879 1.974313478 2.837377882
0 1 0.400405563 0.400405563 22.94154883 1.762708954 2.901426382
0 1 0.452105082 0.452105082 25.90371308 1.551435537 2.94888434
0 1 0.503848146 0.503848146 28.86837227 1.341618289 2.980486025
0 1 0.555764955 0.555764955 31.84298634 1.134277748 2.996993408
0 1 0.607973479 0.607973479 34.83431443 0.930332899 2.999190973
0 1 0.660580882 0.660580882 37.84849655 0.730603761 2.987879794
0 1 0.71368469 0.71368469 40.89112065 0.535813976 2.963871005
0 1 0.767373769 0.767373769 43.96727828 0.346593637 2.927978846
0 1 0.82172914 0.82172914 47.08161163 0.163482562 2.881013463
0 1 0.876824695 0.876824695 50.2383544 -0.01306588 2.823773633
0 1 0.932727834 0.932727834 53.4413683 -0.18268028 2.757039599
0 1 0.989500058 0.989500058 56.69417715 -0.34506613 2.681566168
1 0 1.047197551 1.047197551 60 -0.5 2.598076211
1 0 1.105871761 1.105871761 63.36178459 -0.64732327 2.507254683
1 0 1.165570008 1.165570008 66.78224219 -0.78693522 2.409743244
1 0 1.226336138 1.226336138 70.26388495 -0.91878578 2.306135543
1 0 1.288211228 1.288211228 73.80906646 -1.0428678 2.196973177
1 0 1.351234366 1.351234366 77.42002629 -1.15920921 2.082742323
1 0 1.415443512 1.415443512 81.09893938 -1.26786478 1.963871005
1 0 1.480876454 1.480876454 84.84797077 -1.36890785 1.840726922
1 0 1.547571872 1.547571872 88.66933676 -1.46242179 1.713615754
1 0 1.615570535 1.615570535 92.56537315 -1.54849131 1.582779845
1 0 1.684916635 1.684916635 96.53861202 -1.62719351 1.448397139
1 0 1.755659303 1.755659303 100.5918683 -1.69858841 1.310580251
1 0 1.827854321 1.827854321 104.7283381 -1.76270895 1.169375575
1 0 1.901566088 1.901566088 108.9517113 -1.81955 1.024762308
1 0 1.976869884 1.976869884 113.266301 -1.86905601 0.876651357
1 0 2.053854486 2.053854486 117.6771938 -1.91110684 0.724884096
1 0 2.132625249 2.132625249 122.190426 -1.94550097 0.569231083
1 0 2.213307699 2.213307699 126.8131899 -1.97193524 0.409390954
1 0 2.296051796 2.296051796 131.5540775 -1.98997992 0.24498996
1 0 2.381036957 2.381036957 136.4233685 -1.99904772 0.075582986
1 0 2.468477973 2.468477973 141.4333696 -1.99835473 -0.09934253
1 0 2.558631928 2.558631928 146.5988108 -1.98687122 -0.28035745
1 0 2.65180616 2.65180616 151.937301 -1.96325967 -0.46807276
1 0 2.74836714 2.74836714 157.4698377 -1.92579732 -0.66310636
1 0 2.848749882 2.848749882 163.2213451 -1.87228132 -0.8660254
0 1 0.367285494 0.367285494 21.04390871 3.947069422 -0.5610542
0 1 0.447040501 0.447040501 25.613534 3.99076653 -0.2351926
0 1 0.533067157 0.533067157 30.54249831 3.997970955 0.11031841
0 1 0.626444208 0.626444208 35.89260921 3.962440702 0.473228366
0 1 0.728343466 0.728343466 41.73100662 3.877138304 0.849750068
0 1 0.839964246 0.839964246 48.12640622 3.734519156 1.233857764
0 1 0.962407271 0.962407271 55.14187481 3.527254504 1.616472911
0 1 1.096468796 1.096468796 62.82303437 3.249606207 1.984759913
0 1 1.242354964 1.242354964 71.1816961 2.899555948 2.322000689
0 1 1.399363793 1.399363793 80.17763934 2.481397682 2.608727833
0 1 1.565651505 1.565651505 89.70522343 2.007823793 2.825648811
1 0 1.738244406 1.738244406 99.59406823 1.5 2.958039892
 g [°] Xp1 Yp1 Xp2
0.944444444 19.18814 1.333333333 -3.94405319 1.333333333
0.943598822 19.33501 2.012968592 -3.82563558 0.648624339
0.94106839 19.76824 2.65199174 -3.59406923 -0.0055814
0.936872406 20.46722 3.222124047 -3.26854695 -0.60088961
0.931042805 21.40204 3.706346529 -2.87435998 -1.1200897
0.923623953 22.53823 4.098800814 -2.43704272 -1.5570571
0.914672312 23.84077 4.402008606 -1.97847702 -1.91397473
0.90425601 25.27673 4.623416376 -1.51538438 -2.19788032
0.892454321 26.81671 4.772557974 -1.05949623 -2.41783205
0.879357062 28.4351 4.85922342 -0.61849573 -2.58308104
0.865063913 30.11 4.892496967 -0.19710616 -2.70211349
0.849683653 31.82272 4.880374939 0.201970909 -2.78227302
0.833333333 33.55731 -2.82970843 0.577350269 -2.82970843
0.816137391 35.30002 -2.84947527 0.279936619 4.746299617
0.798226699 37.0389 -2.84569299 -0.00236473 4.635053184
0.779737566 38.76345 -2.82170766 -0.27014062 4.500133054
0.760810706 40.46428 -2.78023842 -0.5240818 4.345102656
0.741590165 42.13295 -2.72350079 -0.76490711 4.173041776
0.722222222 43.76174 -2.65330656 -0.99331995 3.986639893
0.702854279 45.34355 -2.57114315 -1.2099844 3.788268829
0.683633738 46.87175 -2.47823584 -1.41551328 3.580038273
0.664706879 48.34016 -2.37559643 -1.61046268 3.3638377
0.646217746 49.74296 -2.26406125 -1.79533022 3.141367729
0.628307053 51.07467 -2.14432116 -1.97055494 2.914163479
0.611111111 52.33011 -2.01694527 -2.1365177 2.683611939
0.594760792 53.50442 -1.88240026 -2.2935417 2.450965007
0.579380531 54.59302 -1.74106627 -2.44189248 2.217349458
0.565087382 55.59164 -1.59325056 -2.58177765 1.983774852
0.551990124 56.49635 -1.43919942 -2.71334608 1.75114016
0.540188435 57.30353 -1.2791091 -2.83668685 1.520239711
0.529772132 58.00994 -1.11313611 -2.95182801 1.291768903
0.520820492 58.6127 -0.94140709 -3.05873527 1.066330041
0.51340164 59.10932 -0.76402866 -3.157311 0.844438496
0.507572039 59.49776 -0.58109715 -3.24739342 0.626529383
0.503376055 59.77639 -0.39270846 -3.32875644 0.412964794
0.500845623 59.94404 -0.19896789 -3.40111007 0.20404163
0.5 60 0 -3.46410162 0
0.500845623 59.94404 0.20404163 -3.51731773 -0.19896789
0.503376055 59.77639 0.412964794 -3.56028735 -0.39270846
0.507572039 59.49776 0.626529383 -3.59248548 -0.58109715
 0.51340164 59.10932 0.844438496 -3.61333786 -0.76402866
0.520820492 58.6127 1.066330041 -3.62222629 -0.94140709
0.529772132 58.00994 1.291768903 -3.61849467 -1.11313611
0.540188435 57.30353 1.520239711 -3.60145544 -1.2791091
0.551990124 56.49635 1.75114016 -3.57039622 -1.43919942
0.565087382 55.59164 1.983774852 -3.52458669 -1.59325056
0.579380531 54.59302 2.217349458 -3.46328507 -1.74106627
0.594760792 53.50442 2.450965007 -3.38574442 -1.88240026
0.611111111 52.33011 2.683611939 -3.29121824 -2.01694527
0.628307053 51.07467 2.914163479 -3.17896532 -2.14432116
0.646217746 49.74296 3.141367729 -3.04825372 -2.26406125
0.664706879 48.34016 3.3638377 -2.89836378 -2.37559643
0.683633738 46.87175 3.580038273 -2.72859028 -2.47823584
0.702854279 45.34355 3.788268829 -2.538244 -2.57114315
0.722222222 43.76174 3.986639893 -2.32665328 -2.65330656
0.741590165 42.13295 4.173041776 -2.09316671 -2.72350079
0.760810706 40.46428 4.345102656 -1.8371588 -2.78023842
0.779737566 38.76345 4.500133054 -1.55804172 -2.82170766
0.798226699 37.0389 4.635053184 -1.25528823 -2.84569299
0.816137391 35.30002 4.746299617 -0.92847376 -2.84947527
0.833333333 33.55731 -2.82970843 -0.57735027 -2.82970843
0.849683653 31.82272 -2.78227302 -0.89023182 4.880374939
0.865063913 30.11 -2.70211349 -1.21849875 4.892496967
0.879357062 28.4351 -2.58308104 -1.56130478 4.85922342
0.892454321 26.81671 -2.41783205 -1.91654637 4.772557974
0.90425601 25.27673 -2.19788032 -2.28015296 4.623416376
0.914672312 23.84077 -1.91397473 -2.64514369 4.402008606
0.923623953 22.53823 -1.5570571 -3.00053374 4.098800814
0.931042805 21.40204 -1.1200897 -3.33038684 3.706346529
0.936872406 20.46722 -0.60088961 -3.61363901 3.222124047
0.94106839 19.76824 -0.0055814 -3.82560013 2.65199174
0.943598822 19.33501 0.648624339 -3.94184323 2.012968592
0.944444444 19.18814 1.333333333 -3.94405319 1.333333333
 t f(t) f'(t) t+1
0 0 12.56637061
0.2 4.334320599 72.08155607 0.260130786
0.260130786 -14.0543561 1559.101026 0.251116388
0.251116388 -140.982199 127707.9805 0.250012446
Yp2 0.250012446 -12785.6802 1027387453 0.250000002
3.944053189 0.250000002 -104082295 6.80665E+16 0.25
3.941843233 0.25 -2.6119E+15 4.28654E+31 0.25
3.825600133
3.613639009 t X Y
3.330386837 0 0 0
3.000533738 0.5 -0.5 6.123234E-17
2.645143686 1 1 -2.44929E-16
2.280152963 1.5 -1.5 5.510911E-16
1.916546374 2 2 -9.79717E-16
1.561304776 2.5 -2.5 1.530808E-15
1.218498749 3 3 -2.20436E-15
0.890231817 3.5 -3.5 3.000385E-15
0.577350269 4 4 -3.91887E-15
0.928473763 4.5 -4.5 4.95982E-15 -15 -10
1.255288229 5 5 -6.12323E-15
1.55804172 5.5 -5.5 2.694904E-14
1.8371588 6 6 -8.81746E-15
2.093166711 6.5 -6.5 -1.27444E-14
2.32665328 7 7 -1.20015E-14
2.538244002 7.5 -7.5 4.042263E-14
2.728590284 8 8 -1.56755E-14
2.89836378 8.5 -8.5 -1.25019E-14
3.048253717 9 9 -1.98393E-14
3.178965318 9.5 -9.5 5.585565E-14
3.29121824 10 10 -2.44929E-14
3.385744423
3.463285071 t X Y
3.52458669 0 0 0
3.570396225 0.05 0.047552826 0.01545085
3.601455435 0.1 0.080901699 0.058778525
3.618494673 0.15 0.088167788 0.121352549
3.622226287 0.2 0.061803399 0.190211303
3.613337855 0.25 1.53081E-17 0.25
3.592485481 0.3 -0.0927051 0.285316955
3.560287347 0.35 -0.20572484 0.283155948
3.517317729 0.4 -0.3236068 0.235114101
3.464101615 0.45 -0.42797543 0.139057647
3.401110072 0.5 -0.5 6.123234E-17
3.328756444 0.55 -0.52308108 -0.169959347
3.247393421 0.6 -0.4854102 -0.352671151
3.157310998 0.65 -0.38206041 -0.525861046
3.058735272 0.7 -0.2163119 -0.665739561
2.951828007 0.75 -1.37773E-16 -0.75
2.836686853 0.8 0.247213595 -0.760845213
2.713346079 0.85 0.499617464 -0.687664445
2.581777648 0.9 0.728115295 -0.529006727
2.44189248 0.95 0.90350369 -0.293566145
2.293541698 1 1 -2.44929E-16
2.136517702 1.05 0.998609342 0.324467844
1.970554935 1.1 0.889918694 0.646563778
1.795330223 1.15 0.67595304 0.930369544
1.610462679 1.2 0.370820393 1.14126782
1.41551328 1.25 3.82702E-16 1.25
1.209984404 1.3 -0.40172209 1.236373471
0.993319946 1.35 -0.79351009 1.092172942
0.764907114 1.4 -1.13262379 0.822899353
0.524081796 1.45 -1.37903195 0.448074642
0.270140618 1.5 -1.5 5.510911E-16
0.002364734 1.55 -1.4741376 -0.478976341
-0.27993662
-0.57735027
-0.20197091
0.197106159
0.618495734
1.059496227
1.515384382
1.978477019
2.437042723
2.874359979
3.268546949
3.59406923
3.825635576
3.944053189
 t f(t) f'(t) t+1
0.1 -0.54349987 10.59676682 0.048710784
0.048710784 -0.90328924 4.100442617 -0.17157988
-0.17157988 1.00795887 -41.9751349 -0.19559312
-0.19559312 2.453865827 -86.3699486 -0.22400423
-0.22400423 7.540181598 -372.563627 -0.24424287
-0.24424287 41.40589352 -7545.85296 -0.24973011
-0.24973011 924.2896497 -3432059.92 -0.24999942

7E-14
6E-14
5E-14
4E-14
3E-14
2E-14
1E-14
0
-15 -10 -5 0 5 10 15
-1E-14
-2E-14
-3E-14

1.5

0.5

0
-2 -1.5 -1 -0.5 0 0.5 1 1.5

-0.5

-1
-2 -1.5 -1 -0.5 0 0.5 1 1.5

-0.5

-1
 4

Curva de trayectoria del punto C

3

0
-3 -2 -1 0 1 2 3 4 5

-1

-2

-3

-4
 3.5

Curva de trayectoria del punto C

3

2.5

1.5

0.5

0
-3 -2 -1 0 1 2 3 4 5

-0.5

-1

-1.5
 5

0
-4 -3 -2 -1 0 1 2 3 4 5 6

-1

-2

-3

-4

-5