Datos mm Constantes

a=fijo 15 k1 2.3333 Configuracion 1 C

b 18 k2 1.0606
c 33 k3 2.2374 s l
d 35 k4 1.9444 15.0000 35
k5 -1.2685 50.0000
w2 3.0 Cumple con la ley de G
Tipo: Doble Manive
theta 2 en grados
y radianes A B C D E F
0 0 -0.1566 0 2.510101 -0.6574074 0 2.00925926
20 0.3491 -0.1529 -0.684041 2.634371 -0.8349793 -0.68404057 1.95230224
40 0.6981 -0.1424 -1.285576 2.992192 -1.3462771 -1.28557568 1.78830105
60 1.0472 -0.1263 -1.732051 3.540405 -2.1296308 -1.73205126 1.53703667
80 1.3963 -0.1065 -1.969616 4.212888 -3.0905562 -1.96961571 1.22881531
100 1.7453 -0.0854 -1.969615 4.928529 -4.1131514 -1.96961525 0.90081306
120 2.0944 -0.0657 -1.73205 5.601012 -5.0740764 -1.73204991 0.59259186
140 2.4435 -0.0495 -1.285574 6.149224 -5.8574291 -1.28557361 0.34132776
160 2.7925 -0.0390 -0.684038 6.507044 -6.3687258 -0.68403804 0.17732695
180 3.1416 -0.0354 2.693E-06 6.631313 -6.5462963 2.69282E-06 0.12037037
200 3.4907 -0.0390 0.684043 6.507042 -6.3687231 0.6840431 0.17732782
220 3.8397 -0.0495 1.285578 6.149221 -5.857424 1.28557774 0.3413294
240 4.1888 -0.0657 1.732053 5.601007 -5.0740695 1.7320526 0.59259406
260 4.5379 -0.0854 1.969616 4.928524 -4.1131436 1.96961618 0.90081557
280 4.8869 -0.1065 1.969615 4.212882 -3.0905484 1.96961478 1.22881782
300 5.2360 -0.1263 1.732049 3.5404 -2.1296239 1.73204856 1.53703887
320 5.5851 -0.1424 1.285572 2.992188 -1.346272 1.28557155 1.78830269
340 5.9341 -0.1529 0.684036 2.634369 -0.8349766 0.68403551 1.95230311
360 6.2832 -0.1566 -5.39E-06 2.510101 -0.6574074 -5.3856E-06 2.00925926

Datos mm Constantes
a=fijo 6 k1 1.2500 Configuracion 2 A
b 11.2 k2 0.6250
c 12 k3 0.7695 s l
d 7.5 k4 0.6696 6.0000 12
k5 -0.5483 18.0000
w2 3.0 Cumple con la ley de G
Tipo: Doble Manive
theta 2 en grados
y radianes A B C D E F
0 0 -0.1055 0 0.394514 -0.1286458 0 0.37135417
20 0.3491 -0.1281 -0.684041 0.492513 -0.2293377 -0.68404057 0.39127716
 40 0.6981 -0.1932 -1.285576 0.774692 -0.5192684 -1.28557568 0.44864312
60 1.0472 -0.2930 -1.732051 1.207015 -0.9634679 -1.73205126 0.53653287
80 1.3963 -0.4154 -1.969616 1.737337 -1.5083592 -1.96961571 0.64434559
100 1.7453 -0.5456 -1.969615 2.301693 -2.0882204 -1.96961525 0.75907747
120 2.0944 -0.6680 -1.73205 2.832015 -2.6331114 -1.73204991 0.86689014
140 2.4435 -0.7678 -1.285574 3.264337 -3.0773104 -1.28557361 0.95477979
160 2.7925 -0.8329 -0.684038 3.546515 -3.3672404 -0.68403804 1.01214561
180 3.1416 -0.8555 2.693E-06 3.644514 -3.4679315 2.69282E-06 1.03206845
200 3.4907 -0.8329 0.684043 3.546514 -3.3672389 0.6840431 1.01214531
220 3.8397 -0.7678 1.285578 3.264334 -3.0773076 1.28557774 0.95477921
240 4.1888 -0.6680 1.732053 2.832011 -2.6331075 1.7320526 0.86688937
260 4.5379 -0.5456 1.969616 2.301689 -2.0882159 1.96961618 0.75907659
280 4.8869 -0.4154 1.969615 1.737332 -1.5083548 1.96961478 0.64434471
300 5.2360 -0.2930 1.732049 1.207011 -0.963464 1.73204856 0.5365321
320 5.5851 -0.1932 1.285572 0.774689 -0.5192655 1.28557155 0.44864255
340 5.9341 -0.1281 0.684036 0.492512 -0.2293362 0.68403551 0.39127685
360 6.2832 -0.1055 -5.39E-06 0.394514 -0.1286458 -5.3856E-06 0.37135417

Datos mm Constantes
a=fijo 27 k1 1.0741 Configuracion 2 A
b 22 k2 1.3810
c 21 k3 1.3466 s l
d 29 k4 1.3182 21.0000 29
k5 -1.3577 50.0000
w2 3.0 NO Cumple con la ley de
Tipo: Triple-Balanc
theta 2 en grados
y radianes A B C D E F
0 0 -0.1085 0 0.039683 -0.1136364 0 0.03451178
20 0.3491 -0.0855 -0.684041 0.183272 -0.25344 -0.68404057 0.01532306
40 0.6981 -0.0193 -1.285576 0.59672 -0.6559883 -1.28557568 -0.03992868
60 1.0472 0.0820 -1.732051 1.23016 -1.2727282 -1.73205126 -0.12457925
80 1.3963 0.2063 -1.969616 2.007188 -2.0292715 -1.96961571 -0.22841853
100 1.7453 0.3386 -1.969615 2.834085 -2.8343679 -1.96961525 -0.33892196
120 2.0944 0.4630 -1.73205 3.611113 -3.5909109 -1.73204991 -0.44276119
140 2.4435 0.5643 -1.285574 4.244552 -4.20765 -1.28557361 -0.52741166
160 2.7925 0.6305 -0.684038 4.657999 -4.6101975 -0.68403804 -0.58266327
180 3.1416 0.6534 2.693E-06 4.801587 -4.75 2.69282E-06 -0.60185185
200 3.4907 0.6305 0.684043 4.657997 -4.6101953 0.6840431 -0.58266298
220 3.8397 0.5643 1.285578 4.244548 -4.207646 1.28557774 -0.52741111
240 4.1888 0.4630 1.732053 3.611107 -3.5909055 1.7320526 -0.44276045
260 4.5379 0.3386 1.969616 2.834078 -2.8343618 1.96961618 -0.33892112
280 4.8869 0.2063 1.969615 2.007182 -2.0292654 1.96961478 -0.22841768
300 5.2360 0.0820 1.732049 1.230154 -1.2727228 1.73204856 -0.12457851
320 5.5851 -0.0193 1.285572 0.596716 -0.6559843 1.28557155 -0.03992813
340 5.9341 -0.0855 0.684036 0.183269 -0.2534378 0.68403551 0.01532335
360 6.2832 -0.1085 -5.39E-06 0.039683 -0.1136364 -5.3856E-06 0.03451178
Configuracion 1 Cruzada
< p q
< 18 33
< 51
Cumple con la ley de Grashod
Tipo: Doble Manivela
Vel angulares en rad/seg

theta3 -theta3 theta4 -theta4 w3 w4

-120.460514 120.460514 -151.954654 151.954654 1.176 -1.17647059
-126.700444 99.1229894 -163.628402 136.050948 2.264 -1.10213233
-119.796561 75.1968273 -169.562282 124.962549 2.753 -1.30826664
-106.882116 56.3121218 -172.628646 122.058652 2.929 -1.73052508
-91.4230314 42.3974482 -174.396345 125.370762 2.971 -2.27605931
-74.8394946 31.9471208 -175.47861 132.586237 2.923 -2.85753831
-57.8561575 23.8640067 -176.089572 142.097422 2.756 -3.38339052
-41.1029359 17.6697411 -176.191981 152.758786 2.305 -3.74186251
-25.79615 13.8650618 -175.302065 163.370977 0.923 -3.72479194
-15.4444714 15.4445177 -171.647808 171.647854 -2.941 -2.94117217
-13.8650767 25.7962559 -163.3709 175.302079 -6.557 -2.0511327
-17.6697813 41.103062 -152.758702 176.191983 -7.224 -1.72762753
-23.8640616 57.8562885 -142.097342 176.089569 -6.579 -1.61661032
-31.9471913 74.8396248 -132.58617 175.478604 -5.403 -1.56654772
-42.3975404 91.4231562 -125.370719 174.396335 -4.020 -1.53515061
-56.3122464 106.882228 -122.058647 172.628629 -2.635 -1.50476945
-75.1969951 119.796644 -124.962602 169.56225 -1.364 -1.45753712
-99.1231816 126.700458 -136.051062 163.628338 -0.159 -1.3572326
-120.46063 120.460398 -151.95477 151.954538 1.176 -1.17646919

Configuracion 2 Abierta
< p q
< 11.2 7.5
< 18.7
Cumple con la ley de Grashod
Tipo: Doble Manivela
Vel angulares en rad/seg

theta3 -theta3 theta4 -theta4 w3 w4

-119.039775 119.039775 -125.313897 125.313897 -12.000 -12.000
-147.881171 52.3146953 -161.020995 65.4545191 0.126 -1.385
 -140.508451 34.4607216 -164.206395 58.1586653 1.640 0.033
-128.367934 30.1547376 -162.616934 64.4037376 1.934 0.388
-115.232296 30.3184335 -159.397825 74.483962 1.985 0.566
-102.097623 32.7506111 -155.152659 85.805647 1.944 0.706
-89.4392404 36.7802773 -149.981728 97.3227649 1.846 0.847
-77.5825634 42.2143049 -143.835444 108.467186 1.705 0.999
-66.7824914 49.0273298 -136.627575 118.872414 1.530 1.164
-57.227588 57.2276566 -128.300325 128.300393 1.333 1.333
-49.0272719 66.7825701 -118.872337 136.627635 1.126 1.492
-42.2142577 77.5826511 -108.467102 143.835496 0.918 1.624
-36.7802407 89.4393353 -97.3226769 149.981772 0.712 1.711
-32.7505858 102.097723 -85.805558 155.152696 0.493 1.731
-30.3184221 115.232399 -74.4838776 159.397854 0.222 1.642
-30.1547489 128.368033 -64.4036694 162.616954 -0.219 1.326
-34.4607857 140.508535 -58.1586468 164.206396 -1.246 0.360
-52.3149545 147.881178 -65.4547005 161.020924 -5.039 -3.527
-119.040392 119.039158 -125.314514 125.31328 -12.000 -12.000

Configuracion 2 Abierta
< p q
< 22 21
< 43
NO Cumple con la ley de Grashod
Tipo: Triple-Balancin
Vel angulares en rad/seg

theta3 -theta3 theta4 -theta4 w3 w4

-57.7177199 57.7177199 -62.3359955 62.3359955 -40.500 -40.500
-139.645335 2.5455658 -166.19543 29.0956606 0.889 -3.002
-125.175499 -3.61616523 -178.288137 49.4964723 2.852 -1.234
-104.206415 -8.71406933 174.382844 72.6966712 3.391 -1.062
-79.7879516 -15.3376412 166.399034 98.4753732 4.016 -1.457
-41.7460209 -34.8209043 145.344195 138.08888 21.218 -19.348
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
#VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
 #VALUE! #VALUE! #VALUE! #VALUE! #VALUE! #VALUE!
34.8199581 41.747112 -138.08774 -145.34519 -18.395 22.159
15.3375756 79.7881581 -98.4751573 -166.399109 -1.275 4.198
8.71402724 104.206589 -72.6964843 -174.382899 -0.818 3.635
3.61612617 125.175646 -49.4963012 178.288073 -0.759 3.327
-2.54563277 139.645381 -29.0955275 166.195276 -1.302 2.588
-57.7198028 57.7156371 -62.3380784 62.3339127 -40.501 -40.501
 W3 vs Theta 2
4.000

2.000

0.000
0 50 100 150 200 250 300 350

-2.000

-4.000

-6.000

-8.000

W4 vs Theta2
0
0 50 100 150 200 250 300 350
-0.5

-1

-1.5

-2

-2.5

-3

-3.5

-4
300 350 400

300 350 400

s