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datos del problema

pociciones
RO4O2 r1= 100 mm
RAO2 r2= 150 mm
RBO4 r3= 250 mm
RABA r4= 250 mm
DE O2 A O6 q1= 0° 0 radianes

q2= q4= q41


grados rad A B C radianes grados
0 0 -25000 0 2500 1.47062891 84.2608295
10 0.174532925 -23860.5815 -13023.6133 2955.76741 1.9614763 112.384314
20 0.34906585 -20476.9466 -25651.5107 4309.22138 2.33623529 133.856422
30 0.523598776 -14951.9053 -37500 6519.23789 2.5999986 148.968946
40 0.698131701 -7453.33323 -48209.0707 9518.66671 2.79181547 159.959243
50 0.872664626 1790.92927 -57453.3332 13216.3717 2.94075388 168.492786
60 1.047197551 12500 -64951.9053 17500 3.06395493 175.551686
70 1.221730476 24348.4893 -70476.9466 22239.3957 -3.1118154 -178.293889
80 1.396263402 36976.3867 -73860.5815 27290.5547 -3.01417013 -172.699227
90 1.570796327 50000 -75000 32500 -2.92245303 -167.444225
100 1.745329252 63023.6133 -73860.5815 37709.4453 -2.83406978 -162.380237
105 1.832595715 69411.4284 -72444.437 40264.5714 -2.79053043 -159.885616
110 1.919862177 75651.5107 -70476.9466 42760.6043 -2.74717286 -157.401411
120 2.094395102 87500 -64951.9053 47500 -2.66038283 -152.428708
130 2.268928028 98209.0707 -57453.3332 51783.6283 -2.57262853 -147.400757
140 2.443460953 107453.333 -48209.0707 55481.3333 -2.48305359 -142.268491
150 2.617993878 114951.905 -37500 58480.7621 -2.39096122 -136.991987
160 2.792526803 120476.947 -25651.5107 60690.7786 -2.29578127 -131.538578
170 2.967059728 123860.581 -13023.6133 62044.2326 -2.19704984 -125.881683
180 3.141592654 125000 -9.1849E-12 62500 -2.0943951 -120
190 3.316125579 123860.581 13023.6133 62044.2326 -1.98752502 -113.876795
200 3.490658504 120476.947 25651.5107 60690.7786 -1.87621385 -107.499135
210 3.665191429 114951.905 37500 58480.7621 -1.76028519 -100.856912
220 3.839724354 107453.333 48209.0707 55481.3333 -1.63959013 -93.9415947
230 4.01425728 98209.0707 57453.3332 51783.6283 -1.51397881 -86.7445962
240 4.188790205 87500 64951.9053 47500 -1.38326344 -79.2551572
250 4.36332313 75651.5107 70476.9466 42760.6043 -1.24716908 -71.4575248
260 4.537856055 63023.6133 73860.5815 37709.4453 -1.10526527 -63.3270351
270 4.71238898 50000 75000 32500 -0.95686559 -54.8243597
280 4.886921906 36976.3867 73860.5815 27290.5547 -0.80087099 -45.8865277
290 5.061454831 24348.4893 70476.9466 22239.3957 -0.6355105 -36.4120693
300 5.235987756 12500 64951.9053 17500 -0.45788893 -26.2351032
310 5.410520681 1790.92927 57453.3332 13216.3717 -0.26316238 -15.0780937
320 5.585053606 -7453.33323 48209.0707 9518.66671 -0.04299732 -2.46356493
330 5.759586532 -14951.9053 37500 6519.23789 0.21720647 12.4450139
340 5.934119457 -20476.9466 25651.5107 4309.22138 0.54201847 31.0553706
350 6.108652382 -23860.5815 13023.6133 2955.76741 0.96221765 55.1310103
360 6.283185307 -25000 1.83697E-11 2500 1.47062891 84.2608295
posicion a
q42 q3 rbx rby
radianes grados radianes grados mm mm
-1.47062891 -84.2608295 1.47062891 84.2608295 150 0
-0.96221765 -55.1310103 -1.18011635 -67.6156861 147.721163 26.0472267
-0.54201847 -31.0553706 -0.80535736 -46.1435777 140.953893 51.3030215
-0.21720647 -12.4450139 -0.54159406 -31.0310537 129.903811 75
0.04299732 2.46356493 -0.34977719 -20.0407566 114.906666 96.4181415
0.26316238 15.0780937 -0.20083877 -11.5072139 96.4181415 114.906666
0.45788893 26.2351032 -0.07763772 -4.44831391 75 129.903811
0.6355105 36.4120693 0.02977725 1.70611083 51.3030215 140.953893
0.80087099 45.8865277 0.12742253 7.30077308 26.0472267 147.721163
0.95686559 54.8243597 0.21913962 12.5557753 9.18485E-15 150
1.10526527 63.3270351 0.30752287 17.6197625 -26.0472267 147.721163
1.17697878 67.4359166 0.35106223 20.1143839 -38.8228568 144.888874
1.24716908 71.4575248 0.39441979 22.5985894 -51.3030215 140.953893
1.38326344 79.2551572 0.48120982 27.5712917 -75 129.903811
1.51397881 86.7445962 0.56896412 32.5992429 -96.4181415 114.906666
1.63959013 93.9415947 0.65853907 37.7315093 -114.906666 96.4181415
1.76028519 100.856912 0.75063144 43.0080133 -129.903811 75
1.87621385 107.499135 0.84581138 48.4614224 -140.953893 51.3030215
1.98752502 113.876795 0.94454281 54.1183167 -147.721163 26.0472267
2.0943951 120 1.04719755 60 -150 1.83697E-14
2.19704984 125.881683 1.15406763 66.1232046 -147.721163 -26.0472267
2.29578127 131.538578 1.26537881 72.5008652 -140.953893 -51.3030215
2.39096122 136.991987 1.38130746 79.1430879 -129.903811 -75
2.48305359 142.268491 1.50200252 86.0584053 -114.906666 -96.4181415
2.57262853 147.400757 -1.51397881 -86.7445962 -96.4181415 -114.906666
2.66038283 152.428708 -1.38326344 -79.2551572 -75 -129.903811
2.74717286 157.401411 -1.24716908 -71.4575248 -51.3030215 -140.953893
2.83406978 162.380237 -1.10526527 -63.3270351 -26.0472267 -147.721163
2.92245303 167.444225 -0.95686559 -54.8243597 -2.7555E-14 -150
3.01417013 172.699227 -0.80087099 -45.8865277 26.0472267 -147.721163
3.1118154 178.293889 -0.6355105 -36.4120693 51.3030215 -140.953893
-3.06395493 -175.551686 -0.45788893 -26.2351032 75 -129.903811
-2.94075388 -168.492786 -0.26316238 -15.0780937 96.4181415 -114.906666
-2.79181547 -159.959243 -0.04299732 -2.46356493 114.906666 -96.4181415
-2.5999986 -148.968946 0.21720647 12.4450139 129.903811 -75
-2.33623529 -133.856422 0.54201847 31.0553706 140.953893 -51.3030215
-1.9614763 -112.384314 0.96221765 55.1310103 147.721163 -26.0472267
-1.47062891 -84.2608295 1.47062891 84.2608295 150 -3.6739E-14
posicion b posicion c
rbx rby rbx rby
mm mm mm mm
175 248.746859 125 -248.746859
242.925474 -205.115355 242.925474 -205.115355
314.167292 -128.96655 314.167292 -128.96655
344.125818 -53.8756436 344.125818 -53.8756436
349.768939 10.746018 349.768939 10.746018
341.39304 65.0338384 341.39304 65.0338384
324.246926 110.513873 324.246926 110.513873
301.192194 148.397106 301.192194 148.397106
274.020409 179.490661 274.020409 179.490661
244.021212 204.347475 244.021212 204.347475
212.224353 223.395825 212.224353 223.395825
195.92913 230.862734 195.92913 230.862734
179.501898 237.022042 179.501898 237.022042
146.608901 245.616796 146.608901 245.616796
114.196738 249.59658 114.196738 249.59658
82.815111 249.40866 82.815111 249.40866
52.9107672 245.52516 52.9107672 245.52516
24.8271504 238.430373 24.8271504 238.430373
-1.1928211 228.60449 -1.1928211 228.60449
-25 216.506351 -25 216.506351
-46.5283419 202.557264 -46.5283419 202.557264
-65.7810435 187.127351 -65.7810435 187.127351
-82.8145777 170.52516 -82.8145777 170.52516
-97.7217775 152.990518 -97.7217775 152.990518
-82.2214039 -364.503246 -110.614879 134.689913
-28.3910988 -375.520606 -121.608901 115.712985
28.1988764 -377.975935 -130.804919 96.0681485
86.177126 -371.116988 -138.271579 75.6746621
144.021212 -354.347475 -144.021212 54.3474748
200.067635 -327.211824 -147.973182 31.769498
252.495216 -289.350999 -149.889173 7.44321276
299.246926 -240.417683 -149.246926 -19.3899381
337.811182 -179.940505 -144.974899 -49.8728281
364.675606 -107.164159 -134.862273 -85.6721235
374.029629 -21.1243564 -114.222007 -128.875644
355.121185 77.6635287 -73.2133988 -180.269572
290.646637 179.068128 4.79568876 -231.162582
175 248.746859 125 -248.746859
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