Eslabón 2:

∂ x1 ∂ x2

[ ][
0 l −l 2

]
∂ q1 ∂ q2 −l1 S 1− 2 S 12 S 0
2 2 12
∂ y1 ∂ y2
J v2= 0= l l2
∂ q1 ∂ q2 l 1 C1 + 2 C 12 C 0
2 2 12
∂ z1 ∂ z2
0 0 0 0
∂ q1 ∂ q2

l l

[ ]
−l 1 S 1− 2 S12 l 1 C1 + 2 C 12 0
2 2
J v2T = −l 2 l2
S12 C 0
2 2 12
0 0 0

l 22 l 1 l 2 C 2 l 22

[ ]
2
l +l 1 l 2 C2 +
1 + 0
4 2 4
T
J v2 J v2= l 1 l 2 C 2 l 22
l2 2
+ 0
2 4 4
0 0 0

0 0 0 0 0 1

[ ]
J w2= 0 0 0
1 1 0 [ ]
J w2T = 0 0 1
0 0 0

0 0 0

[ ]
J w2T J w2= 0 0 0
0 0 1

∂ x1 ∂ x2 ∂ x3

[ ][
l l −l 3

]
∂ q1 ∂q 2 ∂ q3 −l 1 S1 −l 2 S12− 3 S 123 −l 2 S12 − 3 S 123 S 123
2 2 2
∂ y1 ∂ y2 ∂ x3
J v3= = l l l3
∂ q1 ∂q 2 ∂ q3 l 1 C 1+l 2 C12 + 3 C 123 l 2 C12 + 3 C 123 C
2 2 2 123
∂ z1 ∂ z2 ∂ x3
0 0 0
∂ q1 ∂q 2 ∂ q3
 l l

[ ]
−l 1 S 1−l 2 S12− 3 S 123 l 1 C 1+l 2 C12 + 3 C123 0
2 2
T l l
J v3 = −l2 S 12− 3 S 123 l 2 C 12+ 3 C 123 0
2 2
−l 3 l3
S 123 C 0
2 2 123

l 32 l 1 l 3 C12 2 l 32 l 1 l 3 C23 l 2 l 3 C3 l32

[ ]
2
l 1 + +2 l 1 l 2 C 2 +l 1 l 3 C 23 +l 2 l 3 C3 l 1 l 2 C 2+ +l 2 +l 2 l 3 C3 + + +
4 2 4 2 2 4
2 2 2
l l C l l l2 l3 C3 l3
J v3T J v3= l 1 l 2 C2 + 1 3 12 +l 22 +l 2 l 3 C 3 + 3 l 22 +l 2 l 3 C3 + 3 +
2 4 4 2 4
2 2 2
l 1 l 3 C23 l 2 l 3 C3 l 3 l 2 l 3 C3 l3 l3
+ + +
2 2 4 2 4 4

0 0 0
J w3= 0 0 0
1 1 1[ ]
0 0 1
J w3 T

[ ]
=0 0 1
0 0 1

0 0 0

[ ]
J w3T J w3= 0 0 0
0 0 1