operación Transmicion angle (γ)

Input angle (θ_2) 𝛾=cos^(−1)⁡((𝑏^2+𝑐^2−𝑎^2−𝑑^2+2𝑎𝑑 Angle (γ) en rad

cos⁡〖𝜃 _2 〗 )/2𝑏𝑐)
5 0.036730661336829 1.53405740129665
10 0.036498936772735 1.53428928134764
15 0.036114689179672 1.53467378244838
20 0.035580842913836 1.5352079720644
25 0.034901460867657 1.53588777639254
30 0.034081713548727 1.53670801178428
35 0.033127839729121 1.53766242469263
40 0.03204709896457 1.53874373981011
45 0.030847716344863 1.53994371600065
50 0.029538819895941 1.54125320956851
55 0.028130371110115 1.54266224435259
60 0.026633089133089 1.5441600880862
65 0.025058369184793 1.54573533441916
70 0.023418195834873 1.54737598996208
75 0.021725051792888 1.54906956568164
80 0.019991822907345 1.5508031719494
85 0.018231700096615 1.55256361652652
90 0.016458078958079 1.55433750475075
95 0.014684457819543 1.55611134118112
100 0.012924335008813 1.55787163194892
105 0.01119110612327 1.55960498706118
110 0.009497962081285 1.56129822190392
115 0.007857788731366 1.56293845719829
120 0.006283068783069 1.56451321667169
125 0.004785786806043 1.56601052171992
130 0.003377338020217 1.5674189823541
135 0.002068441571295 1.56872788374864
140 0.000869058951588 1.56992726773391
145 -0.000211681812963 1.57100800860944
150 -0.001165555632569 1.57196188269137
155 -0.001985302951499 1.57278163105055
160 -0.002664684997678 1.57346101494604
165 -0.003198531263514 1.57399486351225
170 -0.003582778856577 1.57437911331646
175 -0.00381450342067 1.57461083946608
180 -0.003891941391941 1.57468827801225
185 -0.00381450342067 1.57461083946608
190 -0.003582778856577 1.57437911331646
195 -0.003198531263514 1.57399486351225
200 -0.002664684997678 1.57346101494604
205 -0.001985302951499 1.57278163105055
210 -0.001165555632569 1.57196188269137
215 -0.000211681812963 1.57100800860944
220 0.000869058951588 1.56992726773391
225 0.002068441571295 1.56872788374864
230 0.003377338020217 1.5674189823541
235 0.004785786806043 1.56601052171992
240 0.006283068783069 1.56451321667169
245 0.007857788731366 1.56293845719829
250 0.009497962081285 1.56129822190392
255 0.01119110612327 1.55960498706118
260 0.012924335008813 1.55787163194892
265 0.014684457819543 1.55611134118112
270 0.016458078958079 1.55433750475075
275 0.018231700096615 1.55256361652652
280 0.019991822907345 1.5508031719494
285 0.021725051792888 1.54906956568164
290 0.023418195834873 1.54737598996208
295 0.025058369184793 1.54573533441916
300 0.026633089133089 1.5441600880862
305 0.028130371110115 1.54266224435259
310 0.029538819895941 1.54125320956851
315 0.030847716344863 1.53994371600065
320 0.03204709896457 1.53874373981011
325 0.033127839729121 1.53766242469263
330 0.034081713548727 1.53670801178428
335 0.034901460867657 1.53588777639254
340 0.035580842913836 1.5352079720644
345 0.036114689179672 1.53467378244838
350 0.036498936772735 1.53428928134764
355 0.036730661336829 1.53405740129665
360 0.036808099308099 1.53397991092464
 l1 angle between driver and coupler (β1) en rad
Angle (γ) en Grados 〖 β_1=cos 〗 ^(−1)⁡((𝑎−𝑑 cos⁡〖𝜃 _2 〗 )/𝑙)
𝑙^2=𝑎^2+𝑑^2−2𝑎𝑑 cos⁡〖𝜃 _2 〗
87.895014625105 6.36753112586068 3.01188212019139
87.9083003733799 6.41970511402313 2.88310849098479
87.9303306636703 6.50529828968076 2.75614216941547
87.9609374741282 6.62237943251167 2.63173186168804
87.9998873930253 6.76845083881996 2.51046856201872
88.0468834191793 6.94061031842804 2.39277132499615
88.1015672507405 7.13571171818957 2.27889246870175
88.1635220432955 7.35050719866725 2.16893674441756
88.23227561453 7.58176191200173 2.06288813893406
88.3073040692678 7.8263384764822 1.9606388011615
88.3880358155825 8.08125340489903 1.86201622379776
88.4738559398888 8.34371020589761 1.76680651954616
88.5641109064607 8.61111468072586 1.67477299384203
88.6581135447051 8.88107762619768 1.58567011019058
88.7551482857216 9.15140929843285 1.49925342268589
88.8544766082016 9.42010898400303 1.41528623114207
88.9553426525373 9.68535208613578 1.3335437149236
89.0569789611138 9.94547635862657 1.25381521159128
89.1586123021201 10.1989683285902 1.17590518383528
89.259469533831 10.444450523101 1.09963329532738
89.3587834661607 10.6806698222797 1.02483390835812
89.4557986763746 10.9064870695128 0.951355228472784
89.5497772361505 11.1208679497325 0.879058253481872
89.6400043077244 11.3228750765872 0.807815633553008
89.7257935676314 11.5116611922784 0.737510512268983
89.8064924175801 11.6864633679969 0.668035392377832
89.8814869432866 11.8465980901574 0.599291051749916
89.9502065836581 11.9914571225661 0.531185522627071
90.012128474573 12.1205040437637 0.463633138940466
90.0667814336546 12.233271369823 0.396553651052154
90.1137495548984 12.3293581845316 0.329871403841272
90.1526753847789 12.4084282103676 0.263514571964449
90.1832626545221 12.4702082645911 0.197414444915356
90.2052785465818 12.5144870549689 0.131504753871192
90.2185554769578 12.54111427909 0.065721032023872
90.2229923788249 12.55 1.49011611938477E-08
90.2185554769578 12.54111427909 0.065721032023872
90.2052785465818 12.5144870549689 0.131504753871192
90.1832626545221 12.4702082645911 0.197414444915354
90.1526753847789 12.4084282103676 0.263514571964449
90.1137495548984 12.3293581845316 0.329871403841272
90.0667814336546 12.233271369823 0.396553651052154
 90.012128474573 12.1205040437637 0.463633138940465
89.9502065836581 11.9914571225661 0.531185522627071
89.8814869432866 11.8465980901574 0.599291051749916
89.8064924175801 11.6864633679969 0.668035392377832
89.7257935676314 11.5116611922784 0.737510512268983
89.6400043077244 11.3228750765872 0.807815633553008
89.5497772361506 11.1208679497325 0.879058253481871
89.4557986763746 10.9064870695129 0.951355228472783
89.3587834661607 10.6806698222797 1.02483390835812
89.259469533831 10.444450523101 1.09963329532738
89.1586123021201 10.1989683285902 1.17590518383528
89.0569789611138 9.94547635862657 1.25381521159128
88.9553426525373 9.68535208613578 1.3335437149236
88.8544766082016 9.42010898400303 1.41528623114207
88.7551482857216 9.15140929843285 1.49925342268589
88.6581135447051 8.88107762619768 1.58567011019058
88.5641109064607 8.61111468072586 1.67477299384203
88.4738559398888 8.34371020589761 1.76680651954616
88.3880358155825 8.08125340489903 1.86201622379776
88.3073040692678 7.8263384764822 1.9606388011615
88.23227561453 7.58176191200173 2.06288813893406
88.1635220432955 7.35050719866725 2.16893674441756
88.1015672507405 7.13571171818957 2.27889246870175
88.0468834191793 6.94061031842804 2.39277132499615
87.9998873930253 6.76845083881997 2.51046856201872
87.9609374741282 6.62237943251167 2.63173186168804
87.9303306636703 6.50529828968076 2.75614216941547
87.9083003733799 6.41970511402313 2.88310849098479
87.895014625105 6.36753112586068 3.01188212019139
87.8905747538361 6.35 3.14159265358979

〖en
angle between driver and coupler (β1) β_1=cos
grados 〗 ^(−1)⁡((𝑏−𝑐 cos⁡𝛾)/𝑙)
𝑙^2=𝑏^2+𝑐^2−2𝑏𝑐 cos⁡𝛾
172.568133877881
165.18994841176
157.915314045537
150.787128484832
143.839253203949
137.095698262205
130.57092042076
124.270921485971
118.194783968519
112.336328456143
106.685671008499
101.230556786193
95.9574241896378
90.8522050139644
85.9008935404449
81.0899278474175
76.4064266613191
71.8383199134828
67.3744041413169
63.0043468343218
58.7186576508175
54.5086394091947
50.3663278706526
46.2844264272741
42.2562396995441
38.2756085486157
34.3368479652264
30.4346885849821
26.5642221036912
22.720850555792
18.9002392221605
15.0982728137594
11.3110145085677
7.534667382726
3.76553776021201
8.53773646251594E-07
3.76553776021201
7.534667382726
11.3110145085677
15.0982728137594
18.9002392221605
22.720850555792
l2
9.84480119676454
9.84595777433438
9.84787532148036
9.85053880548816
9.85392736049575
9.8580144650143
9.8627681667685
9.86815135239433
9.87412205908084
9.88063382484276
9.88763607376899
9.89507453231152
9.90289167246207
9.91102717751035
9.91941842598622
9.92800098935663
9.93670913907138
9.94547635862657
9.95423585643295
9.96292107543435
9.9714661956106
9.97980662571431
9.98787948082482
9.99562404254982
10.0029821989596
10.0098988615956
10.0163223571515
10.0222047916732
10.0275023853689
10.0321757763493
10.0361902918425
10.0395161856322
10.0421288406681
10.0440089359789
10.0451425771954
10.0455213901519
10.0451425771954
10.0440089359789
10.0421288406681
10.0395161856322
10.0361902918425
10.0321757763493
26.5642221036911 10.0275023853689
30.4346885849821 10.0222047916732
34.3368479652264 10.0163223571515
38.2756085486157 10.0098988615956
42.256239699544 10.0029821989596
46.284426427274 9.99562404254982
50.3663278706525 9.98787948082482
54.5086394091946 9.97980662571431
58.7186576508175 9.9714661956106
63.0043468343218 9.96292107543435
67.3744041413169 9.95423585643295
71.8383199134828 9.94547635862657
76.4064266613191 9.93670913907138
81.0899278474175 9.92800098935663
85.9008935404449 9.91941842598622
90.8522050139643 9.91102717751035
95.9574241896378 9.90289167246207
101.230556786193 9.89507453231152
106.685671008499 9.88763607376899
112.336328456143 9.88063382484276
118.194783968519 9.87412205908084
124.270921485971 9.86815135239433
130.570920420759 9.8627681667685
137.095698262205 9.8580144650143
143.839253203949 9.85392736049575
150.787128484832 9.85053880548816
157.915314045537 9.84787532148036
165.18994841176 9.84595777433438
172.568133877881 9.84480119676454
180 9.84441466010042
angle between driver and coupler (β2) en rad
𝑀.𝐴=sin⁡𝛾/sin⁡𝛽 angle between driver and coupler (β2) en grados

0.693847507038278 39.754533778967
0.693756864584914 39.7493403489446
0.693606549112088 39.7407279067561
0.6933976878566 39.7287610383128
0.693131847609809 39.713529514147
0.692811023458173 39.6951476442924
0.692437624422005 39.6737534554457
0.692014456078792 39.6495076953561
0.69154470027643 39.622592670479
0.691031892060666 39.593210924016
0.690479893959798 39.5615837625371
0.689892867788215 39.5279496404416
0.6892752441485 39.4925624125585
0.688631689829652 39.455689466201
0.687967073316169 39.4176097449838
0.687286428639298 39.378611677651
0.68659491781749 39.3389910260738
0.685897792147803 39.2990486674105
0.685200352623558 39.2590883262056
0.68450790976563 39.2194142728924
0.683825743165318 39.1803290057697
0.683159061045323 39.1421309340171
0.682512960151919 39.1051120796855
0.681892386295556 39.0695558168397
0.68130209585868 39.0357346661198
0.680746618588281 39.0039081629105
0.680230221986317 38.9743208170631
0.679756877603616 38.947200181678
0.67933022953186 38.9227550478291
0.678953565373946 38.9011737812867
0.678629789955066 38.8826228162748
0.678361402015699 38.8672453200769
0.678150474103102 38.8551600409036
0.677998635850382 38.8464603498541
0.677907060801889 38.8412134860667
0.677876456911017 38.8394600122831
0.677907060801889 38.8412134860667
0.677998635850382 38.8464603498541
0.678150474103102 38.8551600409036
0.678361402015699 38.8672453200769
0.678629789955066 38.8826228162748
0.678953565373946 38.9011737812867
 0.67933022953186 38.9227550478291
0.679756877603616 38.947200181678
0.680230221986317 38.9743208170631
0.680746618588281 39.0039081629105
0.68130209585868 39.0357346661198
0.681892386295556 39.0695558168397
0.682512960151919 39.1051120796855
0.683159061045323 39.1421309340171
0.683825743165318 39.1803290057697
0.68450790976563 39.2194142728924
0.685200352623558 39.2590883262056
0.685897792147803 39.2990486674105
0.68659491781749 39.3389910260738
0.687286428639298 39.378611677651
0.687967073316169 39.4176097449838
0.688631689829652 39.455689466201
0.6892752441485 39.4925624125585
0.689892867788215 39.5279496404416
0.690479893959798 39.5615837625371
0.691031892060666 39.593210924016
0.69154470027643 39.622592670479
0.692014456078792 39.6495076953561
0.692437624422005 39.6737534554457
0.692811023458173 39.6951476442924
0.693131847609809 39.713529514147
0.6933976878566 39.7287610383128
0.693606549112088 39.7407279067561
0.693756864584914 39.7493403489446
0.693847507038278 39.754533778967
0.693877796880449 39.7562692590855
 mechanical advantage (M.A)en rad
β en grados=β1+β2

212.322667656848 1.86899201815421
204.939288760705 2.37001177322725
197.656041952293 3.29489220733511
190.515889523145 5.47573646543994
183.552782718096 16.1275225272611
176.790845906498 17.852818224103
170.244673876205 5.89851583485813
163.920429181327 3.60861794737192
157.817376638998 2.64732538022845
151.929539380159 2.12421358206787
146.247254771036 1.79911113081221
140.758506426635 1.58024110605446
135.449986602196 1.42500494714668
130.307894480165 1.31097956806884
125.318503285429 1.2252746380073
120.468539525069 1.15998514349035
115.745417687393 1.11002240276966
111.137368580893 1.07198957524978
106.633492467523 1.04355949626223
102.223761107214 1.0231123036448
97.8989866565872 1.00951577029655
93.6507703432118 1.00198823073304
89.471439950338 1.00001167865315
85.3539822441138 1.00327688440653
81.2919743656639 1.01165015355287
77.2795167115262 1.02515583811796
73.3111687822895 1.04397151485398
69.3818887666601 1.06843471237801
65.4869771515203 1.09906171714085
61.6220243370787 1.13658070504001
57.7828620384353 1.18198363120048
53.9655181338363 1.23660451754184
50.1661745494714 1.30223692411372
46.3811277325801 1.38131216242855
42.6067512462787 1.47717551377563
38.8394608660567 1.5945271752758
42.6067512462787 1.47717551377563
46.3811277325801 1.38131216242855
50.1661745494713 1.30223692411372
53.9655181338363 1.23660451754184
57.7828620384353 1.18198363120048
61.6220243370787 1.13658070504001
65.4869771515202 1.09906171714085
69.3818887666601 1.06843471237801
73.3111687822895 1.04397151485398
77.2795167115262 1.02515583811796
81.2919743656638 1.01165015355287
85.3539822441137 1.00327688440653
89.471439950338 1.00001167865315
93.6507703432118 1.00198823073304
97.8989866565872 1.00951577029655
102.223761107214 1.0231123036448
106.633492467523 1.04355949626223
111.137368580893 1.07198957524978
115.745417687393 1.11002240276966
120.468539525069 1.15998514349035
125.318503285429 1.2252746380073
130.307894480165 1.31097956806884
135.449986602196 1.42500494714668
140.758506426635 1.58024110605446
146.247254771036 1.79911113081221
151.929539380159 2.12421358206786
157.817376638998 2.64732538022845
163.920429181327 3.60861794737192
170.244673876205 5.8985158348581
176.790845906498 17.8528182241028
183.552782718096 16.1275225272611
190.515889523145 5.47573646543994
197.656041952293 3.29489220733511
204.939288760705 2.37001177322726
212.322667656848 1.86899201815421
219.756269259086 1.56260550160324
 b 7.8 60.84
mechanical advantage (M.A)en grados c 6.3 39.69
d 9.45 89.3025
107.085354583874 a 3.1 9.61
135.791672002238
188.783417430845
313.736589195591 |
924.038974814222
1022.89113665534
337.960062728456
206.758578259573
151.680571284956
121.708473036855
103.081474670549
90.5411459900058
81.6467692567676
75.1135962782279
70.2030655022378
66.4622530198742
63.5995988436722
61.4204783438344
59.7915548066238
58.6200169667544
57.8409929898906
57.4096967427835
57.296448650618
57.4835311595288
57.9632841423411
58.7371028673556
59.815161733012
61.2167997045339
62.9715978165718
65.121277474796
67.7226735213353
70.852219781959
74.6126796778144
79.1433570972454
84.6359225394123
91.3596774622203
84.6359225394123
79.1433570972454
74.6126796778145
70.852219781959
67.7226735213353
65.121277474796
62.9715978165718
61.2167997045339
59.815161733012
58.7371028673556
57.9632841423411
57.4835311595288
57.296448650618
57.4096967427835
57.8409929898906
58.6200169667544
59.7915548066238
61.4204783438344
63.5995988436722
66.4622530198742
70.2030655022378
75.1135962782279
81.6467692567677
90.5411459900058
103.081474670549
121.708473036855
151.680571284956
206.758578259573
337.960062728454
1022.89113665533
924.038974814222
313.736589195591
188.783417430845
135.791672002238
107.085354583874
89.5307002857887
 THETA 2 VS M.A.
Input angle (θ_2) mechanical advantage (M.A)en grados

1200

1000

800

600
M.A

400

200

0
0 10 20 30 40 50

THETA 2
S M.A.
anical advantage (M.A)en grados

40 50 60 70 80

TA 2
 (θ_3) en rad
Input angle (θ_2) Angle (γ)
θ_3=2 en Grados (−𝑎 sin⁡〖 θ_2 〗 +𝑐 sin⁡γ)/(𝑏+𝑑−𝑎 cos⁡〖
tan^(−1)⁡〖 (θ_3)
θ_3=2
θ_2−𝑐 en
cos⁡grados
tan^(−1)⁡〖 〗 sin⁡〖 θ_2 〗
γ 〗 )(−𝑎

5 87.895014625105 0.492419011441376 28.2135311076

10 87.9083003733799 0.195816258856545 11.21944519252
15 87.9303306636703 0.332283990902436 19.03847027847
20 87.9609374741282 0.572985125965737 32.82962944161
25 87.9998873930253 0.160188272537271 9.178111943877
30 88.0468834191793 0.657708743830393 37.68393517033
35 88.1015672507405 0.314193069347824 18.00193682589
40 88.1635220432955 0.161703571950951 9.26493220498
45 88.23227561453 0.202840223053794 11.62188869647
50 88.3073040692678 0.676917149265048 38.78449573291
55 88.3880358155825 0.922954447541563 52.88139452696
60 88.4738559398888 0.533359224448284 30.55923252526
65 88.5641109064606 0.143538589652744 8.224155384362
70 88.6581135447051 0.309364245871557 17.72526562069
75 88.7551482857216 1.0364604284869 59.38480818462
80 88.8544766082016 1.05915216061823 60.68494866559
85 88.9553426525373 0.664698635935757 38.08442648722
90 89.0569789611138 0.354748809169955 20.32560955273
95 89.1586123021201 0.574127430838666 32.89507868974
100 89.259469533831 1.07110762074551 61.36994607302
105 89.3587834661607 0.998499183023197 57.20978903449
110 89.4557986763746 0.625476065449468 35.8371387367
115 89.5497772361505 0.363083868571254 20.80317327842
120 89.6400043077244 0.565034183223885 32.37407397935
125 89.7257935676314 0.936839861372368 53.67697013626
130 89.8064924175801 0.839000871205223 48.07120892786
135 89.8814869432866 0.492782202899003 28.23434044527
140 89.9502065836581 0.265744142060083 15.22601777037
145 90.012128474573 0.46796777355089 26.8125783726
150 90.0667814336546 0.792647490932779 45.41535587208
155 90.1137495548984 0.690247069537417 39.54824390577
160 90.1526753847789 0.36842919706522 21.10943804123
165 90.1832626545221 0.181109422096602 10.37680551619
170 90.2052785465818 0.417193147218547 23.9034065774
175 90.2185554769577 0.727057476577257 41.65732487131
180 90.2229923788249 0.616171161546175 35.30400701427
185 90.2185554769577 0.313274844225084 17.94932640172
190 90.2052785465818 0.175661407356439 10.06465726485
195 90.1832626545221 0.472820988735463 27.09064711974
200 90.1526753847789 0.76900898626999 44.0609693209
205 90.1137495548984 0.633331335189161 36.28721253972
210 90.0667814336546 0.340159128751995 19.48968244034
215 90.012128474573 0.260579035722209 14.93007897647
220 89.9502065836581 0.635364518957622 36.40370538863
225 89.8814869432866 0.899531197402235 51.5393411515
230 89.8064924175801 0.714471564775735 40.93620524376
235 89.7257935676314 0.412467644445679 23.63265521244
240 89.6400043077244 0.389677431513974 22.32687219725
245 89.5497772361505 0.84883015771444 48.63438556046
250 89.4557986763746 1.05186994388267 60.26770838114
255 89.3587834661607 0.783388452467055 44.88485204565
260 89.259469533831 0.436128485186275 24.98832152661
265 89.1586123021201 0.448170859022417 25.67829872274
270 89.0569789611138 0.995393168213222 57.03182749477
275 88.9553426525373 1.1109096108855 63.65043212426
280 88.8544766082016 0.722341004053796 41.38709090152
285 88.7551482857216 0.279419700330181 16.00956954173
290 88.6581135447051 0.272926378535817 15.63752960789
295 88.5641109064606 0.918742190363717 52.64004996845
300 88.4738559398888 0.962415304684084 55.1423350972
305 88.3880358155825 0.460989243450563 26.41273805065
310 88.3073040692678 0.080404564420224 4.606842194867
315 88.23227561453 0.141105774493176 8.084765343384
320 88.1635220432955 0.602914264639442 34.54444277207
325 88.1015672507405 0.658212272809417 37.71278525569
330 88.0468834191793 0.131995054089213 7.562759515913
335 87.9998873930253 0.420530864875682 24.09464371236
340 87.9609374741282 0.465846796779258 26.69105535514
345 87.9303306636703 0.348553256363454 19.97063052517
350 87.9083003733799 0.435290474217771 24.94030703493
355 87.895014625105 0.062247549164575 3.566521852163
360 87.8905747538361 0.564981246314435 32.37104091786
 (θ_3) en rad
n^(−1)⁡〖 〗 sin⁡〖 θ_2 〗 −𝑐 sin⁡γ)/(𝑏+𝑑−𝑎 cos⁡〖 θ_4=2
cos⁡γ 〗 )(−𝑎 θ_2−𝑐 cos⁡ 〗 ) 〗(𝑎 sin⁡〖 θ_2 〗 +𝑏 sin⁡γ)/(𝑐−𝑑+𝑎 cos⁡〖 θ_2−𝑏 cos⁡γ 〗
(θ_3)tan^(−1)⁡〖
enγgrados

0.652179802212615 37.36715015046
0.298755529404465 17.11743094107
0.268878504715782 15.405603522
0.564218794221784 32.32735563087
0.04769694673717 2.7328337437
0.47590052425897 27.2670915081
0.067623338761053 3.874531907592
0.528356017600536 30.27256988885
0.847186011490431 48.54018292092
0.310677591254024 17.80051476815
0.089217957123281 5.111812399943
0.287295280792468 16.46080706343
0.834995503576726 47.84171826735
1.10337549313756 63.21875897495
0.635409575709239 36.40628695034
0.264697338851447 15.16604036453
0.546684466972419 31.32271268288
0.976954064814787 55.97534469204
1.12381131217335 64.38964515659
0.672074524020754 38.50703374465
0.373720554930537 21.41261051481
0.600349136103096 34.39747173303
0.932074164016855 53.40391579135
0.965762709532269 55.33412726732
0.522330869132666 29.9273543107
0.31482927722247 18.038388852
0.538366089825446 30.84610477996
0.814798413167971 46.68451022848
0.76963222885602 44.0966784907
0.348301926247285 19.95623037025
0.23029497730383 13.19493024257
0.477135153573018 27.33783055706
0.72947363615707 41.79576061786
0.63644262403008 36.46547625916
0.246796784250287 14.14041413494
0.205721037133522 11.7869471848
0.484259598639094 27.74603119072
0.731989742186259 41.93992287414
0.612849562911004 35.11369343124
0.24940525768892 14.28986865395
0.266047654819549 15.24340777051
0.577086808215744 33.06463852344
0.832789764959309 47.71533875386
0.69400533800549 39.76357682726
0.330482247232119 18.9352379704
0.384373987347966 22.02300722965
0.727857630785976 41.70317033043
0.996811384798352 57.11308531954
0.816637314886567 46.7898715359
0.403317748810609 23.10840480957
0.482760076166024 27.66011488173
0.861627976248532 49.36764654944
1.13463203070936 65.00962666
0.840224920803522 48.14134180376
0.322485433303532 18.47705428274
0.449820982588569 25.77284383875
0.870874848477257 49.89745330184
1.10730456795235 63.44387837923
0.558836195228324 32.01895542573
0.004702504287593 0.269433648821
0.24368237456213 13.96197160414
0.704023779274402 40.33759122927
0.823338103445546 47.17379843974
0.019892672168571 1.139766158496
0.378905629590486 21.70969340928
0.015302072405621 0.876744166646
0.489591706432058 28.05153846316
0.455684407357268 26.10879333149
0.44784212879633 25.65946386818
0.547923027240211 31.3936769589
0.062274098853778 3.568043037302
0.417045180356262 23.89492870069
 (θ_4) en rad (θ_4) en rad
γ 〗 ) 〗(𝑎 sin⁡〖 θ_2 〗 +𝑏 sin⁡γ)/(𝑐−𝑑+𝑎 cos⁡〖θ_4=2
cos⁡
an^(−1)⁡〖 (θ_4)
θ_2−𝑏 〗 ) 〗(𝑎 sin⁡〖 θ_2 〗 +𝑏 sin⁡γ)/(𝑐−𝑑+𝑎 cos⁡〖 θ_2−𝑏 cos⁡γ 〗
enγ grados
tan^(−1)⁡〖
cos⁡

0.672787350929377 38.54787571804 0.474466696733841

0.311420076830203 17.84305605801 0.183782059219772
0.261452056614137 14.98009938901 0.339997465430127
0.563178887769685 32.26777338007 0.574032523496681
0.034309222509709 1.965773648182 0.173719154465856
0.455648530637511 26.10673774687 0.681547581723226
0.038349946304212 2.197290067785 0.346306811692694
0.581796317656177 33.33447353795 0.119330620505551
0.958714134743841 54.93027368036 0.126930081481452
0.472740091120962 27.08601202786 0.85835242428698
0.02075613939009 1.189239186037 1.10785071658417
0.435618643695957 24.95910976099 0.704665613186767
1.10201625462597 63.14088034488 0.321540775398665
1.5982853923439 91.57500743872 0.691233879122314
1.28856320344501 73.82923319326 1.72480545192801
0.681546870560154 39.04975922345 1.65502721871652
1.03711411493618 59.42226165929 1.18729244180083
1.74602117525743 100.0396442827 0.944524621055918
2.37912706851998 136.3139399515 1.87842663786531
2.31532167968018 132.6581604608 2.58315569959412
1.45071910673318 83.1200820748 2.22575406273362
1.67700637290174 96.08538738381 1.71201746531186
2.42012693821065 138.6630594454 1.75433754141293
3.10215961405086 177.740653261 3.07834514259629
2.87596820395141 164.7808401002 2.98139282229693
2.25479554169747 129.1902682042 2.72463541249863
2.25974861773239 129.4740585566 2.20072625777056
3.01997008835669 173.0315403186 2.84157414575265
2.41847919125082 138.5686504989 2.0929631181966
1.97647791571703 113.2438428714 2.50010151115906
2.93505440520828 168.1662300597 3.05584808341867
2.67860857637154 153.4729663936 2.57307278036078
2.85333687072935 163.4841602219 2.32547440612202
2.0029955875711 114.7631935512 1.66179682497591
1.55326813522754 88.99570860069 2.33735141317425
3.11073895301156 178.2322131745 3.12874440443719
2.82586623426845 161.9102086921 2.69334727519589
2.73490027983759 156.6982434238 2.0194874495382
1.96924469712837 112.829409974 1.75945139216563
1.80808375987241 103.5955684468 2.52750916245582
2.66258659866827 152.5549746918 2.90182763483715
2.67613637832554 153.3313198795 2.43752375755344
 2.93321842326212 168.0610360429 2.61814156040551
2.35364765151048 134.8540768924 2.29771988774591
2.85852203228249 163.7812480949 3.01755991393123
2.02445876730639 115.9929431649 2.42987559862354
2.30622253635723 132.1368179512 1.89823236591788
2.89480839074137 165.8603032885 2.60551615334667
3.12614548012029 179.1149421548 3.12667900488572
2.01119449604744 115.2329564035 2.59495722511111
1.40807778662458 80.67691439971 1.81947149775285
1.8125296396844 103.8502985963 1.24088858605502
2.27607258728908 130.4093531171 1.53799803791946
2.09283106117356 119.9103870391 2.22411146017909
0.905001267093707 51.85275305846 1.87085716154562
0.837387964298128 47.97879616933 1.17403107486929
1.28610645434481 73.68847183849 0.576799225255975
1.59014468271313 91.10857913463 0.632464677075665
0.960203218522737 55.01559189623 1.35610327197611
0.140070063379376 8.025423467768 1.20555694006979
0.357081232666973 20.45924757515 0.588824878689109
0.818469119093251 46.89482618583 0.002744057467721
0.940378385545415 53.87971263708 0.057357974669438
0.053558040351977 3.06864967116 0.689032205791234
0.348324894195571 19.95754633675 0.697364896576132
0.032969665102971 1.88902266236 0.149974023064462
0.498081113281479 28.53794564621 0.41252580669417
0.454477806758749 26.03966020964 0.467059924279019
0.459963763156349 26.35398235781 0.33693419638612
0.562117484782961 32.20695946857 0.422451488195356
0.077272085797111 4.427364390347 0.077245485475286
0.400357275149791 22.93878216344 0.584007171984537
 b 7.8 60.84
+𝑎 cos⁡〖 θ_2−𝑏 cos⁡γ 〗 ) 〗
(θ_4) en grados c 6.3 39.69
d 9.45 89.3025
27.18493924236 a 3.1 9.61
10.52993634352
19.48041981429
32.8896408996
9.953374371475
39.04979997009
19.84191872662
6.837140921645
7.272557962139
49.17997124647
63.47517039082
40.3743656036
18.42292937171
39.60478393016
98.82407287663
94.82607461173
68.02684596297
54.1172744327
107.6259184746
148.0039194119
127.5263140287
98.09137521505
100.5161369643
176.3761845554
170.8212257882
156.1101098481
126.0923264339
162.8102057251
119.9179533492
143.2452649437
175.087198013
147.4262106947
133.2398688365
95.21394447936
133.9203712138
179.2638495494
154.3174316318
115.7081076382
100.8091390295
144.8156076894
166.2624763506
139.6598237707
 150.008461579
131.6496520711
172.8934474961
139.221616543
108.7607031022
149.2850790399
179.1455108721
148.6800970158
104.2480377656
71.09767882691
88.12079647219
127.4321998349
107.1922194284
67.26702560722
33.04816123358
36.23755668754
77.69899406811
69.07332462871
33.73718042119
0.157222911642
3.286369869977
39.47863734043
39.95606535439
8.592878558191
23.63598766381
26.76056244089
19.30490742656
24.20468732261
4.425840304173
33.46114616008
 θ_2 VS θ_3
400

350

300

250
Axis Title

200 Input angle (θ_2)

(θ_3) en grados
150

100

50

0
0 10 20 30 40 50 60 70 80

Axis Title
 θ_2 VS θ_4
400

350

300

250

ut angle (θ_2)
200
3) en grados

150

100

50

0
1 4 7 10 13 16 19 22 25 28 31 34 37 40 43 46 49 52 55 58 61 64 67 70 73

Input angle (θ_2) (θ_4) en grados

 𝜃_3=sin^(−1)⁡((𝑎 sin⁡〖𝜃 _2−𝑐 〗 )/𝑏)
Input angle (θ_2) θ_3 en rad θ_3 en grados
𝑑=𝑎 cos⁡〖𝜃 _2− 〖 b cos 〗〖
⁡ 𝜃 _3 〗 〗

330 0.437066856177527 0.45233496 25.9168842447

 d Row Link 2 (a) Link 3 (b) Offsel © θ2
g 7 25 10 330
𝑑=𝑎 cos⁡〖𝜃 _2− 〖 b cos 〗〖
⁡ 𝜃 _3 〗 〗

4.21965333929379