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t/to

0
0.02380952
0.02272727
0.0327381
0.03571429
0.03869048
0.04166667
0.0625
0.125
0.1875
0.22916667
0.25
0.27954545
0.5
0.5625
0.625
0.6875
0.75
0.8125
0.82727273
0.83333333
0.835
0.8375
0.84
0.8425
0.845
0.8475
0.85
0.875
0.9
0.91666667
0.925
0.95
0.975
1

VL1/Vo

VL1

VL2/Vo

VL2

e1 (m)

0
0
0
0 0.32315789
0.2
0.2 -0.11428571 -0.11428571
0.320802
0.19090909 0.19090909 -0.10909091 -0.10909091 0.32090909
0.275
0.275 -0.15714286 -0.15714286 0.31991855
Coeficiente
de Velocidad
Relativa
vs. Coeficiente
de Tiempo relativo
0.3
0.3 -0.17142857
-0.17142857
0.31962406
0.325
0.325 -0.18571429 -0.18571429 0.31932957
0.35
0.35
-0.2
-0.2 0.31903509
0.34078947 0.34078947
-0.2
-0.2 0.31697368
0.31315789 0.31315789
-0.2
-0.2 0.31078947
0.28552632 0.28552632
-0.2
-0.2 0.30460526
0.26710526 0.26710526
-0.2
-0.2 0.30048246
0.25789474 0.25789474
-0.16
-0.16 0.29842105
0.24483254
0.24483254
-0.11661442
-0.11661442
0
0.1
0.2
0.3
0.4
0.5
0.6 0.29549761
0.7
0.8
0.9
1
0.14736842 0.14736842 0.24827586 0.24827586 0.27368421
0.11973684 0.11973684 0.35172414 0.35172414
0.27
0.09210526 0.09210526 0.45517241 0.45517241 0.26684211
VL1/Vo
VL2/Vo
0.06447368 0.06447368 0.55862069
0.55862069
0.26526316
0.03684211 0.03684211 0.66206897 0.66206897 0.26473684
0.00921053 0.00921053 0.76551724 0.76551724 0.26631579
0.00267943
0.78996865
Brazos de torque
(m) vs. Coeficiente0.26789474
de tiempo relativo
0
0
0.8
0.8 0.26789474
0.33 0
0.55
0
0.784
0.784 0.26789474
0.54
0.32 0
ngulos
de0.76
Eslabones
(Rad) vs. Coeficien
0
0.76
0.26789474
0.53
0.31 0
0
0.736
0.736 0.26789474
0.52
0
0.712
0.712 0.26789474
0.3 0
0.51
0
0.688
0.688 0.26789474
0.29 0
0.5
0
0.664
0.664 0.26789474
0.28 0
0.49
0
0
0.64
0.64 0.26789474
0.27
0.48
0
0
0.4
0.4 0.26789474
0.26
0.47
0
0
0.16
0.16 0.26789474
0.25
0.46
0 0
0.1
0.2 0
0.3
0.40
0.5
0.60 0.26789474
0.7
0.8
0.9
1
0
0
0
0 0.26789474
e1 (m)
e2 (m)
0
0
0
0 0.26789474
0
0.1
0.2
0.3
0.4
0.5
0.6
0
0
0
0 0.26789474
theta1 (Rad)
theta2 (
0
0
0
0 0.26789474

e2 (m)
theta1 (Rad)
theta2 (Rad) alfa (rad)
Resta
Suma
0.2795454545
0.535 0.5464516129
0.0625 -0.37480495 0.7845889307
0.2557359307 0.53674173 0.5464516129 0.0863095238 -0.37480495 0.7845889307
0.2568181818 0.53666854 0.5464516129 0.0852272727 -0.37480495 0.7845889307
0.2468073593 0.5373245 0.5564945165 0.0952380952 -0.36537075 0.7926667399
nte de Tiempo
relativo0.53751054 0.5594795513 0.0982142857 -0.36253352 0.7950654007
0.2438311688
0.2408549783 0.53769254 0.5624640477 0.1011904762 -0.35968162 0.7974625866
0.2378787878 0.53787054 0.5654478826 0.1041666667 -0.35681519 0.7998582034
0.2170454545 0.53900775 0.5863058483
0.125 -0.33635436 0.8165757227
0.1545454545 0.54139288 0.6482276729
0.1875 -0.27124578 0.8659223457
0.0920454545 0.54254279 0.7082977096
0.25 -0.20184292 0.9134150112
0.0503787878 0.54282964 0.7467739049 0.2916666667 -0.15415942 0.9436543502
0.0295454545 0.54288013 0.7654230004
0.3125 -0.13014027 0.9582632637
0
0.54289474
0.7911018717
0.3420454545
-0.0960976 0.9783300399
0.7
0.8
0.9
1
0.2204545455 0.53883438 0.9448803866
0.5625 0.13127207 1.0974323708
0.2829545455 0.53472746 0.9733948215
0.625 0.17785934 1.1193383307
0.3454545455 0.52861351 0.9941411403
0.6875 0.21262539 1.1352455294
0.4079545455 0.52014461 1.0067418694
0.75 0.23409919 1.1448948773
0.4704545455 0.50898532 1.010967742
0.8125 0.24136136 1.1481289333
0.5329545455 0.49481043 1.010967742
0.875 0.24136136 1.1481289333
0.5477272728
0.49098473 1.010967742 0.8897727273 0.24136136 1.1481289333
de tiempo
relativo
0.49098473 1.0078709678
0.24136136 1.1457590735
0.550.49098473 1.0070193549
0.24136136 1.1451072675
0.54
nes (Rad) vs. Coeficiente
de Tiempo
relativo
0.49098473
1.0057419355
0.24136136 1.1441294816
0.530.49098473 1.0044645162
0.24136136 1.1431516033
0.3
0.52
0.49098473 1.0031870968
0.24136136 1.1421736325
0.2
0.51
0.49098473 1.0019096774
0.24136136 1.1411955688
0.1
0.5
0.49098473 1.0006322581
0.24136136 1.140217412
0.49
0
0.49098473 0.9993548387
0.24136136 1.1392391619
0.48
-0.1
0.49098473 0.9993548387
0.24136136 1.1392391619
0.47
-0.2
0.49098473 0.9993548387
0.24136136 1.1392391619
0.46
-0.3
0.49098473 0.9993548387
0.24136136 1.1392391619
0.7
0.8
0.9
1
0.49098473 0.9993548387
0.24136136 1.1392391619
-0.4
0.49098473 0.9993548387
0.24136136 1.1392391619
-0.5
0.3
0.4
0.5
0.6
0.7
0.8
0.9
1
0.49098473 0.9993548387
0.24136136 1.1392391619
theta1 (Rad)
theta2
(Rad)
0.49098473
0.9993548387
0.24136136 1.1392391619

beta (rad)
a
b
c
raiz
sol 1 Fbeta
0.329027806 -0.47208847 -16065.879 -114593615 6459.03796 -23856.6693
0.329027806 -0.47096366 -16031.4437 -114595132 6413.00372 -23828.2159
0.329027806 -0.47100583 -16032.8812 -114595063 6415.10013 -23829.8339
0.338945028 -0.47176237 -16019.6524 -114358121 6389.82237 -23750.8077
0.3418995512 -0.47193966 -16014.8657 -114285072 6382.26357 -23728.8058
0.3448566761 -0.47209503 -16009.6854 -114210812 6374.68417 -23707.4826
0.3478162778 -0.47222843 -16004.1103 -114135329 6367.08388 -23686.8353
0.3685922809 -0.47254433 -15953.9504 -113571945 6313.27306 -23560.9887
0.4311722529 -0.46701678 -15685.4198 -111492167 6144.71647 -23371.8969
0.4931757386 -0.45223866 -15243.9853 -108796754 5964.11725 -23447.9098
0.5335680183 -0.43785556 -14862.0133 -106663039 5836.73042 -23636.4975
0.5533385658 -0.42950098 -14647.8455 -105502976 5771.03587 -23770.4715
0.5807697663 -0.4165163 -14320.9736 -103762846 5675.79243 -24004.7822
0.7502523213 -0.31145298 -11654.8682 -89481340 4935.48729 -26633.8049
0.7826980069 -0.29014395 -11079.9966 -86051508 4785.08373 -27340.0155
0.8065131014 -0.27755762 -10692.4407 -83399310 4662.17047 -27660.2231
0.8210645236 -0.27482586 -10531.3787 -81724368 4590.21336 -27511.225
0.8259593958 -0.28363376 -10625.0229 -81151945 4563.04553 -26774.0839
0.8259593958 -0.29985702 -10879.3835 -81151107 4585.4193 -25786.9616
0.8259593958 -0.30368724 -10947.1969 -81150263 4611.2821 -25615.9576
0.8235457199 -0.2987661 -10893.4718 -81434019 4620.47937 -25963.3724
0.8228820957 -0.29741739 -10878.6303 -81512042 4623.00795 -26060.4098
0.8218867695 -0.29539806 -10856.314 -81629067 4626.80027 -26207.2035
0.8208915753 -0.29338322 -10833.9326 -81746080 4630.59193 -26355.5025
0.8198965128 -0.29137288 -10811.4863 -81863083 4634.38291 -26505.3305
0.8189015817 -0.28936706 -10788.975 -81980074 4638.17321 -26656.7111
0.8179067818 -0.28736576 -10766.3989 -82097053 4641.96283 -26809.6691
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292
0.8169121127 -0.28536899 -10743.758 -82214019 4645.75174 -26964.2292

sol 2 Fbeta sol 1 Falfa


sol 2 Falfa
Falfa (N)
Fbeta (N)
-3567.10863 22912.5909 2640.59616 224772.516 -234033.926
-3574.81717 22884.1403 2648.24693 224493.417 -233754.798
-3574.49454 22885.7582 2647.92671 224509.288 -233770.671
-3570.04848 22810.1252 2647.90071 223767.328 -232995.424
-3568.83421 22789.1527 2648.02589 223561.588 -232779.585
-3567.66909 22768.8685 2648.21172
223362.6 -232570.404
-3566.55302 22749.2696 2648.45805 223170.335 -232367.855
-3560.1059 22631.0216 2651.86121 222010.322 -231133.299
-3554.7515 22467.308 2679.07488 220404.292 -229278.309
-3569.28323 22572.0413 2729.81537 221431.725 -230023.995
-3589.24033 22781.178 2775.24591 223483.356 -231874.041
-3602.12517 22925.721 2801.09112 224901.323 -233188.326
-3623.59618 23175.2374 2841.03899 227349.079 -235486.914
-3839.93935 25911.2602 3182.32203 254189.463 -261277.626
-3884.42574 26640.3372 3252.77462 261341.708 -268205.552
-3901.21266 26977.8631 3289.38106 264652.837 -271346.788
-3881.34744 26839.7628 3282.53374 263298.073 -269885.118
-3820.1668 26106.5862 3227.17515 256105.61 -262653.763
-3730.76717 25119.8707 3140.19238 246425.931 -252970.093
-3707.61024 24948.9405 3117.68379 244749.107 -251292.544
-3738.93576 25294.3871 3146.02861 248137.937 -254700.683
-3747.62721 25390.8844 3153.90292 249084.576 -255652.62
-3760.72735 25536.8687 3165.77942 250516.682 -257092.666
-3773.90367 25684.3595 3177.73456 251963.567 -258547.48
-3787.15684 25833.3802 3189.76902 253425.46 -260017.292
-3800.48755 25983.9548 3201.8835 254902.597 -261502.336
-3813.89649 26136.1077 3214.07869 256395.216 -263002.854
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
-3827.38439 26289.8638 3226.35529 257903.564 -264519.089
final

Diametro minimo alfa Diametro minimo beta long alfa


long beta
0.2098311616
0.2141104132 3.6218715 3.69173668
0.2097008476
0.2139826925 3.6218715 3.69173668
0.20970826
0.2139899574 3.6218715 3.69173668
0.2093614507
0.2136348384 3.6289499 3.69134265
0.2092651814
0.2135358635 3.63104269 3.69124694
0.2091720291
0.2134398982
3.63313 3.69116106
0.2090819845
0.2133469336 3.63521172 3.69108502
0.2085378847
0.2127794297 3.64961994 3.69082772
0.2077822307
0.211923865 3.69088705 3.69288965
0.2082659649
0.2122682072 3.72870638 3.69889285
0.2092285633
0.2131201171 3.7517527 3.70476336
0.2098912751
0.2137232566 3.76258588 3.70816336
0.2110303796
0.2147740318 3.77713785 3.71342357
0.2231398582
0.2262296332 3.85519924 3.75782955
0.2262573746
0.2292093147 3.86791937 3.76821104
0.2276861734
0.2305476628 3.87682164 3.77611975
0.2271026601
0.2299258757 3.8820828 3.78105951
0.2239793228
0.2268246216 3.88382246 3.78273813
0.2197058316
0.2226040037 3.88382246 3.78273813
0.2189570527
0.2218646867 3.88382246 3.78273813
0.2204676966
0.2233641323 3.88254884 3.78444401
0.2208878351
0.223781152 3.88219742 3.78491203
0.2215219199
0.2244105267 3.88166934 3.78561318
0.2221607101
0.2250445685 3.88114013 3.78631327
0.2228042665
0.2256833378 3.88060977 3.78701229
0.2234526507
0.2263268962 3.88007829 3.78771025
0.2241059258
0.2269753066 3.87954566 3.78840714
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2247641557
0.2276286328 3.87901191 3.78910297
0.2276861734
0.2305476628 3.88382246 3.78910297
25 cm
25 cm
3.6218715 3.69082772
RESTA
0.26195096 0.09827525
carrera minima
30 cm
10 cm