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Tramo Grados Radianes Angulo β Longitud (mm) Desplazamiento (X) Velocidad (V)

AB 0 0 1.431169987 15 0 0
AB 1 0.017453293 1.431169987 15 4.474724724471E-05 0.0076911089
AB 2 0.034906585 1.431169987 15 0.0003578992 0.0307531479
AB 3 0.052359878 1.431169987 15 0.0012074665 0.0691522702
AB 4 0.06981317 1.431169987 15 0.0028606728 0.1228321198
AB 5 0.087266463 1.431169987 15 0.005583562 0.1917139142
AB 6 0.104719755 1.431169987 15 0.0096406083 0.2756965598
AB 7 0.122173048 1.431169987 15 0.0152943278 0.3746568005
AB 8 0.13962634 1.431169987 15 0.0228048932 0.4884493985
AB 9 0.157079633 1.431169987 15 0.032429752 0.6169073475
AB 10 0.174532925 1.431169987 15 0.0444232488 0.7598421177
AB 11 0.191986218 1.431169987 15 0.0590362519 0.9170439327
AB 12 0.20943951 1.431169987 15 0.0765157849 1.088282077
AB 13 0.226892803 1.431169987 15 0.0971046646 1.2733052351
AB 14 0.244346095 1.431169987 15 0.1210411444 1.4718418601
AB 15 0.261799388 1.431169987 15 0.1485585644 1.6836005719
AB 16 0.27925268 1.431169987 15 0.1798850095 1.9082705856
AB 17 0.296705973 1.431169987 15 0.2152429741 2.1455221669
AB 18 0.314159265 1.431169987 15 0.2548490358 2.3950071163
AB 19 0.331612558 1.431169987 15 0.2989135377 2.6563592804
AB 20 0.34906585 1.431169987 15 0.3476402793 2.9291950887
AB 21 0.366519143 1.431169987 15 0.4012262179 3.2131141172
AB 22 0.383972435 1.431169987 15 0.4598611789 3.5076996754
AB 23 0.401425728 1.431169987 15 0.5237275779 3.8125194184
AB 24 0.41887902 1.431169987 15 0.5930001524 4.1271259813
AB 25 0.436332313 1.431169987 15 0.6678457057 4.4510576355
AB 26 0.453785606 1.431169987 15 0.7484228621 4.7838389667
AB 27 0.471238898 1.431169987 15 0.8348818337 5.1249815723
AB 28 0.488692191 1.431169987 15 0.9273642005 5.4739847785
AB 29 0.506145483 1.431169987 15 1.0260027022 5.8303363751
AB 30 0.523598776 1.431169987 15 1.1309210435 6.1935133668
AB 31 0.541052068 1.431169987 15 1.2422337126 6.5629827415
AB 32 0.558505361 1.431169987 15 1.3600458133 6.9382022517
AB 33 0.575958653 1.431169987 15 1.4844529102 7.3186212112
AB 34 0.593411946 1.431169987 15 1.6155408893 7.7036813027
AB 35 0.610865238 1.431169987 15 1.7533858311 8.0928173974
BC 1 0.017453293 0.855211333 15 0.306122449 17.539524341
BC 2 0.034906585 0.855211333 15 0.612244898 17.539524341
BC 3 0.052359878 0.855211333 15 0.9183673469 17.539524341
BC 4 0.06981317 0.855211333 15 1.2244897959 17.539524341
BC 5 0.087266463 0.855211333 15 1.5306122449 17.539524341
BC 6 0.104719755 0.855211333 15 1.8367346939 17.539524341
BC 7 0.122173048 0.855211333 15 2.1428571429 17.539524341
BC 8 0.13962634 0.855211333 15 2.4489795918 17.539524341
BC 9 0.157079633 0.855211333 15 2.7551020408 17.539524341
BC 10 0.174532925 0.855211333 15 3.0612244898 17.539524341
BC 11 0.191986218 0.855211333 15 3.3673469388 17.539524341
BC 12 0.20943951 0.855211333 15 3.6734693878 17.539524341
BC 13 0.226892803 0.855211333 15 3.9795918367 17.539524341
BC 14 0.244346095 0.855211333 15 4.2857142857 17.539524341
BC 15 0.261799388 0.855211333 15 4.5918367347 17.539524341
BC 16 0.27925268 0.855211333 15 4.8979591837 17.539524341
BC 17 0.296705973 0.855211333 15 5.2040816327 17.539524341
BC 18 0.314159265 0.855211333 15 5.5102040816 17.539524341
BC 19 0.331612558 0.855211333 15 5.8163265306 17.539524341
BC 20 0.34906585 0.855211333 15 6.1224489796 17.539524341
BC 21 0.366519143 0.855211333 15 6.4285714286 17.539524341
BC 22 0.383972435 0.855211333 15 6.7346938776 17.539524341
BC 23 0.401425728 0.855211333 15 7.0408163265 17.539524341
BC 24 0.41887902 0.855211333 15 7.3469387755 17.539524341
BC 25 0.436332313 0.855211333 15 7.6530612245 17.539524341
BC 26 0.453785606 0.855211333 15 7.9591836735 17.539524341
BC 27 0.471238898 0.855211333 15 8.2653061224 17.539524341
BC 28 0.488692191 0.855211333 15 8.5714285714 17.539524341
BC 29 0.506145483 0.855211333 15 8.8775510204 17.539524341
BC 30 0.523598776 0.855211333 15 9.1836734694 17.539524341
BC 31 0.541052068 0.855211333 15 9.4897959184 17.539524341
BC 32 0.558505361 0.855211333 15 9.7959183673 17.539524341
BC 33 0.575958653 0.855211333 15 10.1020408163 17.539524341
BC 34 0.593411946 0.855211333 15 10.4081632653 17.539524341
BC 35 0.610865238 0.855211333 15 10.7142857143 17.539524341
BC 36 0.628318531 0.855211333 15 11.0204081633 17.539524341
BC 37 0.645771823 0.855211333 15 11.3265306122 17.539524341
BC 38 0.663225116 0.855211333 15 11.6326530612 17.539524341
BC 39 0.680678408 0.855211333 15 11.9387755102 17.539524341
BC 40 0.698131701 0.855211333 15 12.2448979592 17.539524341
CD 0 0 1.570796327 20 0 20
CD 1 0.017453293 1.570796327 20 0.3490481287 19.996953903
CD 2 0.034906585 1.570796327 20 0.6979899341 19.98781654
CD 3 0.052359878 1.570796327 20 1.0467191249 19.972590695
CD 4 0.06981317 1.570796327 20 1.3951294749 19.951281005
CD 5 0.087266463 1.570796327 20 1.743114855 19.923893962
CD 6 0.104719755 1.570796327 20 2.0905692654 19.890437907
CD 7 0.122173048 1.570796327 20 2.4373868681 19.850923033
CD 8 0.13962634 1.570796327 20 2.7834620192 19.805361375
CD 9 0.157079633 1.570796327 20 3.1286893008 19.753766812
CD 10 0.174532925 1.570796327 20 3.4729635533 19.69615506
CD 11 0.191986218 1.570796327 20 3.8161799075 19.632543669
CD 12 0.20943951 1.570796327 20 4.1582338164 19.562952015
CD 13 0.226892803 1.570796327 20 4.4990210869 19.487401296
CD 14 0.244346095 1.570796327 20 4.838437912 19.405914526
CD 15 0.261799388 1.570796327 20 5.1763809021 19.318516526
CD 16 0.27925268 1.570796327 20 5.5127471163 19.225233919
CD 17 0.296705973 1.570796327 20 5.8474340945 19.126095119
CD 18 0.314159265 1.570796327 20 6.1803398875 19.021130326
CD 19 0.331612558 1.570796327 20 6.5113630891 18.910371512
CD 20 0.34906585 1.570796327 20 6.8404028665 18.793852416
CD 21 0.366519143 1.570796327 20 7.1673589909 18.67160853
CD 22 0.383972435 1.570796327 20 7.4921318683 18.543677091
CD 23 0.401425728 1.570796327 20 7.8146225698 18.410097069
CD 24 0.41887902 1.570796327 20 8.1347328615 18.270909153
CD 25 0.436332313 1.570796327 20 8.4523652348 18.126155741
CD 26 0.453785606 1.570796327 20 8.7674229358 17.975880926
CD 27 0.471238898 1.570796327 20 9.0798099948 17.820130484
CD 28 0.488692191 1.570796327 20 9.3894312557 17.658951857
CD 29 0.506145483 1.570796327 20 9.6961924049 17.492394143
CD 30 0.523598776 1.570796327 20 10 17.320508076
CD 31 0.541052068 1.570796327 20 10.3007614982 17.143346014
CD 32 0.558505361 1.570796327 20 10.5983852847 16.960961923
CD 33 0.575958653 1.570796327 20 10.8927807003 16.773411359
CD 34 0.593411946 1.570796327 20 11.1838580694 16.580751451
CD 35 0.610865238 1.570796327 20 11.471528727 16.383040886
CD 36 0.628318531 1.570796327 20 11.7557050458 16.180339887
CD 37 0.645771823 1.570796327 20 12.036300463 15.972710201
CD 38 0.663225116 1.570796327 20 12.3132295065 15.760215072
CD 39 0.680678408 1.570796327 20 12.586407821 15.542919229
CD 40 0.698131701 1.570796327 20 12.8557521937 15.320888862
CD 41 0.715584993 1.570796327 20 13.1211805798 15.094191604
CD 42 0.733038286 1.570796327 20 13.3826121272 14.86289651
CD 43 0.750491578 1.570796327 20 13.6399672013 14.627074032
CD 44 0.767944871 1.570796327 20 13.8931674092 14.386796007
CD 45 0.785398163 1.570796327 20 14.1421356237 14.142135624
CD 46 0.802851456 1.570796327 20 14.3867960068 13.893167409
CD 47 0.820304748 1.570796327 20 14.6270740324 13.639967201
CD 48 0.837758041 1.570796327 20 14.8628965095 13.382612127
CD 49 0.855211333 1.570796327 20 15.0941916045 13.12118058
DE 1 0.017453293 2.42600766 50 49.9931831972 -0.7811476004
DE 2 0.034906585 2.42600766 50 49.9727328649 -1.5622842365
DE 3 0.052359878 2.42600766 50 49.9386494164 -2.343381216
DE 4 0.06981317 2.42600766 50 49.8909339393 -3.1243898221
DE 5 0.087266463 2.42600766 50 49.8295885512 -3.9052406481
DE 6 0.104719755 2.42600766 50 49.7546167658 -4.6858430232
DE 7 0.122173048 2.42600766 50 49.6660238684 -5.4660845301
DE 8 0.13962634 2.42600766 50 49.5638172992 -6.2458306105
DE 9 0.157079633 2.42600766 50 49.4480070423 -7.0249242565
DE 10 0.174532925 2.42600766 50 49.3186060199 -7.803185787
DE 11 0.191986218 2.42600766 50 49.1756304888 -8.580412706
DE 12 0.20943951 2.42600766 50 49.0191004399 -9.3563796401
DE 13 0.226892803 2.42600766 50 48.8490399972 -10.130838355
DE 14 0.244346095 2.42600766 50 48.6654778161 -10.903517847
DE 15 0.261799388 2.42600766 50 48.4684474792 -11.674124506
DE 16 0.27925268 2.42600766 50 48.2579878895 -12.442342359
DE 17 0.296705973 2.42600766 50 48.0341436575 -13.207833365
DE 18 0.314159265 2.42600766 50 47.7969654837 -13.970237799
DE 19 0.331612558 2.42600766 50 47.5465105331 -14.729174684
DE 20 0.34906585 2.42600766 50 47.2828428017 -15.484242294
DE 21 0.366519143 2.42600766 50 47.006033474 -16.235018716
DE 22 0.383972435 2.42600766 50 46.7161612701 -16.981062472
DE 23 0.401425728 2.42600766 50 46.4133127811 -17.721913193
DE 24 0.41887902 2.42600766 50 46.0975827926 -18.457092356
DE 25 0.436332313 2.42600766 50 45.7690745948 -19.186104064
DE 26 0.453785606 2.42600766 50 45.4279002785 -19.908435881
DE 27 0.471238898 2.42600766 50 45.0741810162 -20.623559718
DE 28 0.488692191 2.42600766 50 44.708047327 -21.330932756
DE 29 0.506145483 2.42600766 50 44.3296393258 -22.029998426
DE 30 0.523598776 2.42600766 50 43.9391069537 -22.720187414
DE 31 0.541052068 2.42600766 50 43.5366101922 -23.400918723
DE 32 0.558505361 2.42600766 50 43.1223192568 -24.07160076
DE 33 0.575958653 2.42600766 50 42.6964147727 -24.731632463
DE 34 0.593411946 2.42600766 50 42.2590879299 -25.380404462
DE 35 0.610865238 2.42600766 50 41.8105406178 -26.017300269
DE 36 0.628318531 2.42600766 50 41.3509855385 -26.641697501
DE 37 0.645771823 2.42600766 50 40.8806462994 -27.252969121
DE 38 0.663225116 2.42600766 50 40.3997574831 -27.850484717
DE 39 0.680678408 2.42600766 50 39.9085646951 -28.433611789
DE 40 0.698131701 2.42600766 50 39.4073245886 -29.001717072
DE 41 0.715584993 2.42600766 50 38.8963048664 -29.55416786
DE 42 0.733038286 2.42600766 50 38.3757842595 -30.090333364
DE 43 0.750491578 2.42600766 50 37.8460524815 -30.60958607
DE 44 0.767944871 2.42600766 50 37.3074101598 -31.111303117
DE 45 0.785398163 2.42600766 50 36.7601687419 -31.594867684
DE 46 0.802851456 2.42600766 50 36.204650378 -32.059670378
DE 47 0.820304748 2.42600766 50 35.6411877795 -32.505110642
DE 48 0.837758041 2.42600766 50 35.0701240519 -32.930598146
DE 49 0.855211333 2.42600766 50 34.4918125045 -33.335554202
DE 50 0.872664626 2.42600766 50 33.906616435 -33.719413161
DE 51 0.890117919 2.42600766 50 33.3149088894 -34.081623813
DE 52 0.907571211 2.42600766 50 32.7170723978 -34.421650788
DE 53 0.925024504 2.42600766 50 32.1134986864 -34.738975937
DE 54 0.942477796 2.42600766 50 31.5045883641 -35.033099717
DE 55 0.959931089 2.42600766 50 30.8907505862 -35.303542556
DE 56 0.977384381 2.42600766 50 30.2724026941 -35.54984621
Aceleracion (a) θ/β
0 0 FRANCISCO SANDOVAL 201531032
0.8812283548 0.01219512
1.7611633854 0.02439024
2.6385136659 0.03658537 Desplazamiento (X)
3.5119915638 0.04878049 60
4.3803151297 0.06097561
50
5.2422099792 0.07317073
6.0964111626 0.08536585 40
6.9416650219 0.09756098
7.7767310306 0.1097561 30

8.6003836141 0.12195122 20
9.4114139487 0.13414634
10.2086317355 0.14634146 10
10.9908669474 0.15853659
0
11.7569715465 0.17073171 1 8 15 22 29 36 43 50 57 64 71 78 85 92 99 06 13 20 27 34 41 48 55 62 69 76
1 1 1 1 1 1 1 1 1 1 1
12.5058211686 0.18292683
13.2363167735 0.19512195
13.9473862584 0.20731707
14.6379860306 0.2195122 Velocidad (V)
15.3071025397 0.23170732 30
15.953753765 0.24390244
20
16.5769906567 0.25609756
17.1758985287 0.26829268 10
17.749598401 0.2804878 0
18.29724829 0.29268293 1 9 17 25 33 41 49 57 65 73 81 89 97 05 13 21 29 37 45 53 61 69 77
1 1 1 1 1 1 1 1 1 1
-10
18.818044444 0.30487805
19.3112225229 0.31707317 -20
19.7760587196 0.32926829
-30
20.2118708232 0.34146341
20.6180192191 0.35365854 -40
20.9939078286 0.36585366
21.3389849833 0.37804878
21.652744235 0.3902439 Aceleracion (a)
21.9347250986 0.40243902 30
22.1845137284 0.41463415
20
22.401743525 0.42682927
0 10

0 0
0 1 9 17 25 33 41 49 57 65 73 81 89 97 05 13 21 29 37 45 53 61 69 77
1 1 1 1 1 1 1 1 1 1
-10
0
0 -20
0 -30
0
-40
0
-50
-20

-30

-40

0 -50
0
0
0
0
0 3.20741311
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 m -0.0427655
0
0 Y
0
0
0
0
0
0
0
0
0 0
-0.3490481287 0.01111111
-0.6979899341 0.02222222
-1.0467191249 0.03333333
-1.3951294749 0.04444444
-1.743114855 0.05555556
-2.0905692654 0.06666667
-2.4373868681 0.07777778
-2.7834620192 0.08888889
-3.1286893008 0.1
-3.4729635533 0.11111111
-3.8161799075 0.12222222
-4.1582338164 0.13333333
-4.4990210869 0.14444444
-4.838437912 0.15555556
-5.1763809021 0.16666667
-5.5127471163 0.17777778
-5.8474340945 0.18888889
-6.1803398875 0.2
-6.5113630891 0.21111111
-6.8404028665 0.22222222
-7.1673589909 0.23333333
-7.4921318683 0.24444444
-7.8146225698 0.25555556
-8.1347328615 0.26666667
-8.4523652348 0.27777778
-8.7674229358 0.28888889
-9.0798099948 0.3
-9.3894312557 0.31111111
-9.6961924049 0.32222222
-10 0.33333333
-10.3007614982 0.34444444
-10.5983852847 0.35555556
-10.8927807003 0.36666667
-11.1838580694 0.37777778
-11.471528727 0.38888889
-11.7557050458 0.4
-12.036300463 0.41111111
-12.3132295065 0.42222222
-12.586407821 0.43333333
-12.8557521937 0.44444444
-13.1211805798 0.45555556
-13.3826121272 0.46666667
-13.6399672013 0.47777778
-13.8931674092 0.48888889
-14.1421356237 0.5
-14.3867960068 0.51111111
-14.6270740324 0.52222222
-14.8628965095 0.53333333
-15.0941916045 0.54444444 2.4674011 8.10569469
-44.7563270498 0.00719424 5.88551317 8.49543592
-44.755064633 0.01438849 5.88551317 8.49543592
-44.7515914192 0.02158273 5.88551317 8.49543592
-44.7447401317 0.02877698 5.88551317 8.49543592
-44.7333080007 0.03597122 5.88551317 8.49543592
-44.7160620134 0.04316547 5.88551317 8.49543592
-44.6917440418 0.05035971 5.88551317 8.49543592
-44.6590758494 0.05755396 5.88551317 8.49543592
-44.6167639762 0.0647482 5.88551317 8.49543592
-44.5635045019 0.07194245 5.88551317 8.49543592
-44.4979876875 0.07913669 5.88551317 8.49543592
-44.4189024952 0.08633094 5.88551317 8.49543592
-44.3249409873 0.09352518 5.88551317 8.49543592
-44.2148026026 0.10071942 5.88551317 8.49543592
-44.0871983114 0.10791367 5.88551317 8.49543592
-43.9408546496 0.11510791 5.88551317 8.49543592
-43.7745176303 0.12230216 5.88551317 8.49543592
-43.5869565337 0.1294964 5.88551317 8.49543592
-43.3769675767 0.13669065 5.88551317 8.49543592
-43.1433774591 0.14388489 5.88551317 8.49543592
-42.8850467894 0.15107914 5.88551317 8.49543592
-42.6008733885 0.15827338 5.88551317 8.49543592
-42.289795472 0.16546763 5.88551317 8.49543592
-41.9507947106 0.17266187 5.88551317 8.49543592
-41.582899169 0.17985612 5.88551317 8.49543592
-41.1851861235 0.18705036 5.88551317 8.49543592
-40.7567847574 0.1942446 5.88551317 8.49543592
-40.2968787349 0.20143885 5.88551317 8.49543592
-39.8047086542 0.20863309 5.88551317 8.49543592
-39.2795743773 0.21582734 5.88551317 8.49543592
-38.7208372403 0.22302158 5.88551317 8.49543592
-38.12792214 0.23021583 5.88551317 8.49543592
-37.5003195005 0.23741007 5.88551317 8.49543592
-36.8375871171 0.24460432 5.88551317 8.49543592
-36.1393518793 0.25179856 5.88551317 8.49543592
-35.4053113716 0.25899281 5.88551317 8.49543592
-34.635235353 0.26618705 5.88551317 8.49543592
-33.8289671151 0.27338129 5.88551317 8.49543592
-32.9864247179 0.28057554 5.88551317 8.49543592
-32.1076021045 0.28776978 5.88551317 8.49543592
-31.1925700942 0.29496403 5.88551317 8.49543592
-30.2414772537 0.30215827 5.88551317 8.49543592
-29.2545506466 0.30935252 5.88551317 8.49543592
-28.2320964621 0.31654676 5.88551317 8.49543592
-27.1745005206 0.32374101 5.88551317 8.49543592
-26.0822286591 0.33093525 5.88551317 8.49543592
-24.9558269945 0.3381295 5.88551317 8.49543592
-23.7959220646 0.34532374 5.88551317 8.49543592
-22.6032208486 0.35251799 5.88551317 8.49543592
-21.3785106652 0.35971223 5.88551317 8.49543592
-20.1226589493 0.36690647 5.88551317 8.49543592
-18.8366129072 0.37410072 5.88551317 8.49543592
-17.5213990498 0.38129496 5.88551317 8.49543592
-16.1781226049 0.38848921 5.88551317 8.49543592
-14.807966807 0.39568345 5.88551317 8.49543592
-13.4121920661 0.4028777
01531032

Chart Title
Col umn F Col umn G Col u

Tramo
D ED ED ED EDEDE ABABABABABAB
DEDEDEDE ABABAB
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27 134 141 148 155 162 169 176 DE
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9 7 5 3 1 9 7
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Chart Title
l umn F Col umn G Col umn H

Tramo
D EDEDE ABABABABABAB
DED ED ED E ABABAB
EDEDE ABAB
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50 ABAB
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0 AB
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-50 BC
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Grados Radianes Angulo β Longitud (mm) Desplazamiento (X) Velocidad (V) Aceleracion (a)
0 0 1.431169987 15 0 0 0
1 0.017453293 1.431169987 15 4.474724724471E-05 0.0076911089 0.8812283548
2 0.034906585 1.431169987 15 0.0003578992 0.0307531479 1.7611633854
3 0.052359878 1.431169987 15 0.0012074665 0.0691522702 2.6385136659
4 0.06981317 1.431169987 15 0.0028606728 0.1228321198 3.5119915638
5 0.087266463 1.431169987 15 0.005583562 0.1917139142 4.3803151297
6 0.104719755 1.431169987 15 0.0096406083 0.2756965598 5.2422099792
7 0.122173048 1.431169987 15 0.0152943278 0.3746568005 6.0964111626
8 0.13962634 1.431169987 15 0.0228048932 0.4884493985 6.9416650219
9 0.157079633 1.431169987 15 0.032429752 0.6169073475 7.7767310306
10 0.174532925 1.431169987 15 0.0444232488 0.7598421177 8.6003836141
11 0.191986218 1.431169987 15 0.0590362519 0.9170439327 9.4114139487
12 0.20943951 1.431169987 15 0.0765157849 1.088282077 10.2086317355
13 0.226892803 1.431169987 15 0.0971046646 1.2733052351 10.9908669474
14 0.244346095 1.431169987 15 0.1210411444 1.4718418601 11.7569715465
15 0.261799388 1.431169987 15 0.1485585644 1.6836005719 12.5058211686
16 0.27925268 1.431169987 15 0.1798850095 1.9082705856 13.2363167735
17 0.296705973 1.431169987 15 0.2152429741 2.1455221669 13.9473862584
18 0.314159265 1.431169987 15 0.2548490358 2.3950071163 14.6379860306
19 0.331612558 1.431169987 15 0.2989135377 2.6563592804 15.3071025397
20 0.34906585 1.431169987 15 0.3476402793 2.9291950887 15.953753765
21 0.366519143 1.431169987 15 0.4012262179 3.2131141172 16.5769906567
22 0.383972435 1.431169987 15 0.4598611789 3.5076996754 17.1758985287
23 0.401425728 1.431169987 15 0.5237275779 3.8125194184 17.749598401
24 0.41887902 1.431169987 15 0.5930001524 4.1271259813 18.29724829
25 0.436332313 1.431169987 15 0.6678457057 4.4510576355 18.818044444
26 0.453785606 1.431169987 15 0.7484228621 4.7838389667 19.3112225229
27 0.471238898 1.431169987 15 0.8348818337 5.1249815723 19.7760587196
28 0.488692191 1.431169987 15 0.9273642005 5.4739847785 20.2118708232
29 0.506145483 1.431169987 15 1.0260027022 5.8303363751 20.6180192191
30 0.523598776 1.431169987 15 1.1309210435 6.1935133668 20.9939078286
31 0.541052068 1.431169987 15 1.2422337126 6.5629827415 21.3389849833
32 0.558505361 1.431169987 15 1.3600458133 6.9382022517 21.652744235
33 0.575958653 1.431169987 15 1.4844529102 7.3186212112 21.9347250986
34 0.593411946 1.431169987 15 1.6155408893 7.7036813027 22.1845137284
35 0.610865238 1.431169987 15 1.7533858311 8.0928173974 22.401743525
θ/β
0
0.01 Desplazamiento (X)
0.02 2
1.8
0.04 1.6
0.05 1.4
1.2
0.06 1
0.07 0.8
0.6
0.09 0.4
0.1 0.2
0
0.11 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35
0.12
0.13
0.15 Velocidad (V)
0.16 9
8
0.17
7
0.18
6
0.2 5
0.21 4
0.22 3
0.23 2
0.24 1
0
0.26 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35
0.27
0.28
0.29
0.3 Aceleracion (a)
0.32 25

0.33 20
0.34
0.35 15
0.37
10
0.38
0.39 5
0.4
0
0.41 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35
0.43
Grados Radianes Angulo β Longitud (mmDesplazamienVelocidad (V)Aceleracion (θ/β
1 0.01745329 0.85521133 15 0.30612245 17.5395243 0
2 0.03490659 0.85521133 15 0.6122449 17.5395243 0
3 0.05235988 0.85521133 15 0.91836735 17.5395243 0
4 0.06981317 0.85521133 15 1.2244898 17.5395243 0
5 0.08726646 0.85521133 15 1.53061224 17.5395243 0
6 0.10471976 0.85521133 15 1.83673469 17.5395243 0
7 0.12217305 0.85521133 15 2.14285714 17.5395243 0
8 0.13962634 0.85521133 15 2.44897959 17.5395243 0
9 0.15707963 0.85521133 15 2.75510204 17.5395243 0
10 0.17453293 0.85521133 15 3.06122449 17.5395243 0
11 0.19198622 0.85521133 15 3.36734694 17.5395243 0
12 0.20943951 0.85521133 15 3.67346939 17.5395243 0
13 0.2268928 0.85521133 15 3.97959184 17.5395243 0
14 0.2443461 0.85521133 15 4.28571429 17.5395243 0
15 0.26179939 0.85521133 15 4.59183673 17.5395243 0
16 0.27925268 0.85521133 15 4.89795918 17.5395243 0
17 0.29670597 0.85521133 15 5.20408163 17.5395243 0
18 0.31415927 0.85521133 15 5.51020408 17.5395243 0
19 0.33161256 0.85521133 15 5.81632653 17.5395243 0
20 0.34906585 0.85521133 15 6.12244898 17.5395243 0
21 0.36651914 0.85521133 15 6.42857143 17.5395243 0
22 0.38397244 0.85521133 15 6.73469388 17.5395243 0
23 0.40142573 0.85521133 15 7.04081633 17.5395243 0
24 0.41887902 0.85521133 15 7.34693878 17.5395243 0
25 0.43633231 0.85521133 15 7.65306122 17.5395243 0
26 0.45378561 0.85521133 15 7.95918367 17.5395243 0
27 0.4712389 0.85521133 15 8.26530612 17.5395243 0
28 0.48869219 0.85521133 15 8.57142857 17.5395243 0
29 0.50614548 0.85521133 15 8.87755102 17.5395243 0
30 0.52359878 0.85521133 15 9.18367347 17.5395243 0
31 0.54105207 0.85521133 15 9.48979592 17.5395243 0
32 0.55850536 0.85521133 15 9.79591837 17.5395243 0
33 0.57595865 0.85521133 15 10.1020408 17.5395243 0
34 0.59341195 0.85521133 15 10.4081633 17.5395243 0
35 0.61086524 0.85521133 15 10.7142857 17.5395243 0
36 0.62831853 0.85521133 15 11.0204082 17.5395243 0
37 0.64577182 0.85521133 15 11.3265306 17.5395243 0
38 0.66322512 0.85521133 15 11.6326531 17.5395243 0
39 0.68067841 0.85521133 15 11.9387755 17.5395243 0
40 0.6981317 0.85521133 15 12.244898 17.5395243 0
Desplazamiento (X)
14
12
10
8
6
4
2
0
1
4
7
10
13
16
19
22
25
28
31
34
37
40
Grados RadiaAngulo β Longitud (mmDesplazamient
Velocidad (V)Aceleracion (θ/β
0 0 1.57079633 20 0 20 0 0
1 0.01745329 1.57079633 20 0.34904813 19.9969539 -0.3490481 0.01111111
2 0.03490659 1.57079633 20 0.69798993 19.9878165 -0.6979899 0.02222222
3 0.05235988 1.57079633 20 1.04671912 19.9725907 -1.0467191 0.03333333
4 0.06981317 1.57079633 20 1.39512947 19.951281 -1.3951295 0.04444444
5 0.08726646 1.57079633 20 1.74311485 19.923894 -1.7431149 0.05555556
6 0.10471976 1.57079633 20 2.09056927 19.8904379 -2.0905693 0.06666667
7 0.12217305 1.57079633 20 2.43738687 19.850923 -2.4373869 0.07777778
8 0.13962634 1.57079633 20 2.78346202 19.8053614 -2.783462 0.08888889
9 0.15707963 1.57079633 20 3.1286893 19.7537668 -3.1286893 0.1
10 0.17453293 1.57079633 20 3.47296355 19.6961551 -3.4729636 0.11111111
11 0.19198622 1.57079633 20 3.81617991 19.6325437 -3.8161799 0.12222222
12 0.20943951 1.57079633 20 4.15823382 19.562952 -4.1582338 0.13333333
13 0.2268928 1.57079633 20 4.49902109 19.4874013 -4.4990211 0.14444444
14 0.2443461 1.57079633 20 4.83843791 19.4059145 -4.8384379 0.15555556
15 0.26179939 1.57079633 20 5.1763809 19.3185165 -5.1763809 0.16666667
16 0.27925268 1.57079633 20 5.51274712 19.2252339 -5.5127471 0.17777778
17 0.29670597 1.57079633 20 5.84743409 19.1260951 -5.8474341 0.18888889
18 0.31415927 1.57079633 20 6.18033989 19.0211303 -6.1803399 0.2
19 0.33161256 1.57079633 20 6.51136309 18.9103715 -6.5113631 0.21111111
20 0.34906585 1.57079633 20 6.84040287 18.7938524 -6.8404029 0.22222222
21 0.36651914 1.57079633 20 7.16735899 18.6716085 -7.167359 0.23333333
22 0.38397244 1.57079633 20 7.49213187 18.5436771 -7.4921319 0.24444444
23 0.40142573 1.57079633 20 7.81462257 18.4100971 -7.8146226 0.25555556
24 0.41887902 1.57079633 20 8.13473286 18.2709092 -8.1347329 0.26666667
25 0.43633231 1.57079633 20 8.45236523 18.1261557 -8.4523652 0.27777778
26 0.45378561 1.57079633 20 8.76742294 17.9758809 -8.7674229 0.28888889
27 0.4712389 1.57079633 20 9.07980999 17.8201305 -9.07981 0.3
28 0.48869219 1.57079633 20 9.38943126 17.6589519 -9.3894313 0.31111111
29 0.50614548 1.57079633 20 9.6961924 17.4923941 -9.6961924 0.32222222
30 0.52359878 1.57079633 20 10 17.3205081 -10 0.33333333
31 0.54105207 1.57079633 20 10.3007615 17.143346 -10.300761 0.34444444
32 0.55850536 1.57079633 20 10.5983853 16.9609619 -10.598385 0.35555556
33 0.57595865 1.57079633 20 10.8927807 16.7734114 -10.892781 0.36666667
34 0.59341195 1.57079633 20 11.1838581 16.5807515 -11.183858 0.37777778
35 0.61086524 1.57079633 20 11.4715287 16.3830409 -11.471529 0.38888889
36 0.62831853 1.57079633 20 11.755705 16.1803399 -11.755705 0.4
37 0.64577182 1.57079633 20 12.0363005 15.9727102 -12.0363 0.41111111
38 0.66322512 1.57079633 20 12.3132295 15.7602151 -12.31323 0.42222222
39 0.68067841 1.57079633 20 12.5864078 15.5429192 -12.586408 0.43333333
40 0.6981317 1.57079633 20 12.8557522 15.3208889 -12.855752 0.44444444
41 0.71558499 1.57079633 20 13.1211806 15.0941916 -13.121181 0.45555556
42 0.73303829 1.57079633 20 13.3826121 14.8628965 -13.382612 0.46666667
43 0.75049158 1.57079633 20 13.6399672 14.627074 -13.639967 0.47777778
44 0.76794487 1.57079633 20 13.8931674 14.386796 -13.893167 0.48888889
45 0.78539816 1.57079633 20 14.1421356 14.1421356 -14.142136 0.5
46 0.80285146 1.57079633 20 14.386796 13.8931674 -14.386796 0.51111111
47 0.82030475 1.57079633 20 14.627074 13.6399672 -14.627074 0.52222222
48 0.83775804 1.57079633 20 14.8628965 13.3826121 -14.862897 0.53333333
49 0.85521133 1.57079633 20 15.0941916 13.1211806 -15.094192 0.54444444
Desplazamiento (X)
16
14
12
10
8
6
4
2
0
1 5 9 13 17 21 25 29 33 37 41 45 49

Velocidad (V)
25
20
15
10
5
0
1 5 9 13 17 21 25 29 33 37 41 45 49

Aceleracion (a)
0
-2 1 5 9 13 17 21 25 29 33 37 41 45 49
-4
-6
-8
-10
-12
-14
-16
Grados Radianes Angulo β Longitud (mm) Desplazamiento (X) Velocidad (V) Aceleracion (a)
0 0 2.426008 50 50 0 -44.7565050819
1 0.017453 2.426008 50 49.9931831972 -0.7811476004 -44.7563270498
2 0.034907 2.426008 50 49.9727328649 -1.5622842365 -44.755064633
3 0.05236 2.426008 50 49.9386494164 -2.343381216 -44.7515914192
4 0.069813 2.426008 50 49.8909339393 -3.1243898221 -44.7447401317
5 0.087266 2.426008 50 49.8295885512 -3.9052406481 -44.7333080007
6 0.10472 2.426008 50 49.7546167658 -4.6858430232 -44.7160620134
7 0.122173 2.426008 50 49.6660238684 -5.4660845301 -44.6917440418
8 0.139626 2.426008 50 49.5638172992 -6.2458306105 -44.6590758494
9 0.15708 2.426008 50 49.4480070423 -7.0249242565 -44.6167639762
10 0.174533 2.426008 50 49.3186060199 -7.803185787 -44.5635045019
11 0.191986 2.426008 50 49.1756304888 -8.580412706 -44.4979876875
12 0.20944 2.426008 50 49.0191004399 -9.3563796401 -44.4189024952
13 0.226893 2.426008 50 48.8490399972 -10.130838355 -44.3249409873
14 0.244346 2.426008 50 48.6654778161 -10.903517847 -44.2148026026
15 0.261799 2.426008 50 48.4684474792 -11.674124506 -44.0871983114
16 0.279253 2.426008 50 48.2579878895 -12.442342359 -43.9408546496
17 0.296706 2.426008 50 48.0341436575 -13.207833365 -43.7745176303
18 0.314159 2.426008 50 47.7969654837 -13.970237799 -43.5869565337
19 0.331613 2.426008 50 47.5465105331 -14.729174684 -43.3769675767
20 0.349066 2.426008 50 47.2828428017 -15.484242294 -43.1433774591
21 0.366519 2.426008 50 47.006033474 -16.235018716 -42.8850467894
22 0.383972 2.426008 50 46.7161612701 -16.981062472 -42.6008733885
23 0.401426 2.426008 50 46.4133127811 -17.721913193 -42.289795472
24 0.418879 2.426008 50 46.0975827926 -18.457092356 -41.9507947106
25 0.436332 2.426008 50 45.7690745948 -19.186104064 -41.582899169
26 0.453786 2.426008 50 45.4279002785 -19.908435881 -41.1851861235
27 0.471239 2.426008 50 45.0741810162 -20.623559718 -40.7567847574
28 0.488692 2.426008 50 44.708047327 -21.330932756 -40.2968787349
29 0.506145 2.426008 50 44.3296393258 -22.029998426 -39.8047086542
30 0.523599 2.426008 50 43.9391069537 -22.720187414 -39.2795743773
31 0.541052 2.426008 50 43.5366101922 -23.400918723 -38.7208372403
32 0.558505 2.426008 50 43.1223192568 -24.07160076 -38.12792214
33 0.575959 2.426008 50 42.6964147727 -24.731632463 -37.5003195005
34 0.593412 2.426008 50 42.2590879299 -25.380404462 -36.8375871171
35 0.610865 2.426008 50 41.8105406178 -26.017300269 -36.1393518793
36 0.628319 2.426008 50 41.3509855385 -26.641697501 -35.4053113716
37 0.645772 2.426008 50 40.8806462994 -27.252969121 -34.635235353
38 0.663225 2.426008 50 40.3997574831 -27.850484717 -33.8289671151
39 0.680678 2.426008 50 39.9085646951 -28.433611789 -32.9864247179
40 0.698132 2.426008 50 39.4073245886 -29.001717072 -32.1076021045
41 0.715585 2.426008 50 38.8963048664 -29.55416786 -31.1925700942
42 0.733038 2.426008 50 38.3757842595 -30.090333364 -30.2414772537
43 0.750492 2.426008 50 37.8460524815 -30.60958607 -29.2545506466
44 0.767945 2.426008 50 37.3074101598 -31.111303117 -28.2320964621
45 0.785398 2.426008 50 36.7601687419 -31.594867684 -27.1745005206
46 0.802851 2.426008 50 36.204650378 -32.059670378 -26.0822286591
47 0.820305 2.426008 50 35.6411877795 -32.505110642 -24.9558269945
48 0.837758 2.426008 50 35.0701240519 -32.930598146 -23.7959220646
49 0.855211 2.426008 50 34.4918125045 -33.335554202 -22.6032208486
50 0.872665 2.426008 50 33.906616435 -33.719413161 -21.3785106652
51 0.890118 2.426008 50 33.3149088894 -34.081623813 -20.1226589493
52 0.907571 2.426008 50 32.7170723978 -34.421650788 -18.8366129072
53 0.925025 2.426008 50 32.1134986864 -34.738975937 -17.5213990498
54 0.942478 2.426008 50 31.5045883641 -35.033099717 -16.1781226049
55 0.959931 2.426008 50 30.8907505862 -35.303542556 -14.807966807
56 0.977384 2.426008 50 30.2724026941 -35.54984621 -13.4121920661
θ/β
0
0.00719424
0.01438849 Desplazamiento (X)
60
0.02158273
50
0.02877698
40
0.03597122
30
0.04316547
20
0.05035971
10
0.05755396
0
0.0647482 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57
0.07194245
0.07913669
0.08633094
0.09352518 Velocidad (V)
0.10071942 0
-5 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57
0.10791367
0.11510791 -10
-15
0.12230216
-20
0.1294964
-25
0.13669065 -30
0.14388489 -35
0.15107914 -40
0.15827338
0.16546763
0.17266187
0.17985612 Aceleracion (a)
0.18705036 0
0.1942446 1 5 9 13 17 21 25 29 33 37 41 45 49 53 57
-5
0.20143885
-10
0.20863309
-15
0.21582734
-20
0.22302158
0.23021583 -25

0.23741007 -30
0.24460432 -35
0.25179856 -40
0.25899281 -45
0.26618705 -50
0.27338129
0.28057554
0.28776978
0.29496403
0.30215827
0.30935252
0.31654676
0.32374101
0.33093525
0.3381295
0.34532374
0.35251799
0.35971223
0.36690647
0.37410072
0.38129496
0.38848921
0.39568345
0.4028777