Link Length

r1 12
r2 3
r3 15
r4 18
9.13527999063

t1 0
t2 15
t3 88.3762319081
t4 118.820386301

Theta 2 L5 Beta Alpha Lambda Theta 3 Theta 4

0 9.000 0 93.8225537293 56.2510114041 93.8225537293 123.748988596
15 9.135 4.87576260775 93.2519945158 56.3038510914 88.3762319081 118.820386301
30 9.521 9.06467838859 91.676000592 56.4057561434 82.6113222034 114.529565468
45 10.104 12.1194891899 89.4162296741 56.4382071663 77.2967404843 111.442303644
60 10.817 13.897886248 86.8201698801 56.309932474 72.9222836321 109.792181278
75 11.592 14.4768956267 84.1630801747 55.9974639309 69.686184548 109.525640442
90 12.369 14.0362434679 81.6325279796 55.5340439543 67.5962845117 110.429712578
105 13.101 12.7788368903 79.3500401671 54.9826993701 66.5712032768 112.23846374
120 13.748 10.8933946491 77.3956173516 54.4146975442 66.5022227025 114.691907807
135 14.280 8.54315481489 75.8243166195 53.8968811469 67.2811618046 117.559964038
150 14.675 5.86673878954 74.6751446438 53.4851225227 68.8084058543 120.648138688
165 14.918 2.98349874197 73.9749686409 53.2210110791 70.9914698989 123.795490179
180 15.000 1.40391671E-15 73.7397952917 53.1301023542 73.7397952917 126.869897646
195 14.918 -2.98349874197 73.9749686409 53.2210110791 76.9584673829 129.762487663
210 14.675 -5.86673878954 74.6751446438 53.4851225227 80.5418834333 132.381616267
225 14.280 -8.54315481489 75.8243166195 53.8968811469 84.3674714344 134.646273668
240 13.748 -10.8933946491 77.3956173516 54.4146975442 88.2890120008 136.478697105
255 13.101 -12.7788368903 79.3500401671 54.9826993701 92.1288770574 137.79613752
270 12.369 -14.0362434679 81.6325279796 55.5340439543 95.6687714476 138.502199514
285 11.592 -14.4768956267 84.1630801747 55.9974639309 98.6399758014 138.479431696
300 10.817 -13.897886248 86.8201698801 56.309932474 100.718056128 137.587953774
315 10.104 -12.1194891899 89.4162296741 56.4382071663 101.535718864 135.681282024
330 9.521 -9.06467838859 91.676000592 56.4057561434 100.740678981 132.658922245
345 9.135 -4.87576260775 93.2519945158 56.3038510914 98.1277571236 128.571911516
360 9.000 -4.6797224E-15 93.8225537293 56.2510114041 93.8225537293 123.748988596

Angular Velocity An
Omega 3 Omega 4
 Angular Velocity An
Omega 3 Omega 4
30 3000

20 2000

10 1000

0 0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 1 2 3 4 5 6 7

-10 -1000

-20 -2000

-30 -3000
 alpha 93.2519945158
beta 4.87576260775
lamda 56.3038510914

rad/s rad/s2
w1 a1 0
w2 72 a2 0
w3 -27.596521562 a3 -412.601921323
w4 -22.6928879235 a4 864.129488216

Omega 3 Omega 4 a3 a4
-24 -24 -416.927537383 -153.942475342
-27.596521562 -22.6928879235 723.401489933 864.129488216
-27.1121273017 -18.0334026981 1231.25815547 1628.79763679
-23.5167280035 -11.4229143708 1274.72833731 1929.82692494
-18.328990579 -4.47258411842 1523.45882599 1843.45882599
-12.7397250117 1.73471926659 1522.23316328 1550.3697578
-7.39323907172 6.72712265823 1408.16100709 1193.09703613
-2.53656553001 10.4271864096 1261.80638188 847.515885305
1.78728225746 12.9414742945 1118.26471649 543.312607279
5.61101750642 14.4364856293 987.00065757 286.853658705
8.97698184285 15.0816342727 865.520432503 74.9392830233
11.9084991403 15.0276921015 746.679054904 -98.8558948188
14.4 14.4 622.08 -241.92
16.4152667515 13.2960737903 483.358156072 -362.17679365
17.8879952887 11.7833428588 322.275022013 -468.306127467
18.7212882891 9.89582016625 130.096955056 -570.05004381
18.784146314 7.62995427689 -103.361322483 -678.313431693
17.9047501758 4.94099823624 -390.396870287 -804.687366862
15.863827307 1.74346557707 -744.364944464 -959.428915428
12.399473309 -2.07497096926 -1173.65912926 -1145.52253474
7.25206750205 -6.6043389585 -1664.33456564 -1344.33456564
0.30504477607 -11.7887688566 -2143.99704305 -1488.89845542
-8.11799505806 -17.1967196616 -2437.27741164 -1437.41546755
-16.8757483427 -21.7793819812 -2285.18044133 -1008.4490318
-24 -24 -1539.42475342 -153.942475342

Angular Accelerati on
a3 a4
 Angular Accelerati on
a3 a4
3000

2000

1000

0
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25

1000

2000

3000