Datos iniciales k1 k2 k3

Aceleracion α2= 0 2.22 0.9528 1.5265

Bancada d= 2.22
Manivela a= 1 w2 W2 (rad/s)
Acoplador b= 2.06 100 10.4719755
Balancí c= 2.33
Longitud PA p= 3.06
gama α -31 -0.54105207 ABIERTO CERRADO
ϴ2 ϴ2 A B C ϴ4 ϴ4 ϴ4
Grados Radianes RAD GRADOS RAD
0 0 -0.6462 0 1.7938 2.0604 118.0532 4.2228
5 0.0873 -0.6464 -0.1743 1.8012 1.9897 113.9997 4.1513
10 0.1745 -0.6470 -0.3473 1.8234 1.9222 110.1350 4.0816
15 0.2618 -0.6479 -0.5176 1.8603 1.8604 106.5956 4.0157
20 0.3491 -0.6491 -0.6840 1.9115 1.8062 103.4884 3.9549
25 0.4363 -0.6507 -0.8452 1.9767 1.7607 100.8819 3.9000
30 0.5236 -0.6526 -1.0000 2.0554 1.7245 98.8069 3.8512
35 0.6109 -0.6548 -1.1472 2.1469 1.6976 97.2626 3.8084
40 0.6981 -0.6573 -1.2856 2.2506 1.6795 96.2255 3.7712
45 0.7854 -0.6601 -1.4142 2.3657 1.6695 95.6581 3.7392
50 0.8727 -0.6631 -1.5321 2.4913 1.6671 95.5160 3.7118
55 0.9599 -0.6664 -1.6383 2.6265 1.6712 95.7524 3.6886
60 1.0472 -0.6698 -1.7321 2.7702 1.6811 96.3217 3.6692
65 1.1345 -0.6735 -1.8126 2.9213 1.6961 97.1810 3.6530
70 1.2217 -0.6773 -1.8794 3.0787 1.7155 98.2908 3.6398
75 1.3090 -0.6812 -1.9319 3.2411 1.7386 99.6156 3.6293
80 1.3963 -0.6853 -1.9696 3.4074 1.7649 101.1234 3.6212
85 1.4835 -0.6893 -1.9924 3.5763 1.7939 102.7857 3.6153
90 1.5708 -0.6935 -2.0000 3.7465 1.8252 104.5771 3.6115
95 1.6581 -0.6976 -1.9924 3.9167 1.8583 106.4747 3.6096
100 1.7453 -0.7017 -1.9696 4.0856 1.8929 108.4580 3.6096
105 1.8326 -0.7057 -1.9319 4.2520 1.9287 110.5083 3.6113
110 1.9199 -0.7096 -1.8794 4.4144 1.9654 112.6089 3.6147
115 2.0071 -0.7134 -1.8126 4.5718 2.0027 114.7442 3.6197
120 2.0944 -0.7171 -1.7321 4.7229 2.0403 116.8999 3.6264
125 2.1817 -0.7205 -1.6383 4.8666 2.0780 119.0629 3.6347
130 2.2689 -0.7238 -1.5321 5.0018 2.1157 121.2206 3.6446
135 2.3562 -0.7268 -1.4142 5.1274 2.1531 123.3617 3.6561
140 2.4435 -0.7296 -1.2856 5.2425 2.1900 125.4754 3.6692
145 2.5307 -0.7321 -1.1472 5.3462 2.2262 127.5516 3.6839
150 2.6180 -0.7343 -1.0000 5.4377 2.2616 129.5811 3.7003
155 2.7053 -0.7362 -0.8452 5.5164 2.2961 131.5553 3.7184
160 2.7925 -0.7378 -0.6840 5.5816 2.3294 133.4664 3.7381
165 2.8798 -0.7391 -0.5176 5.6328 2.3616 135.3073 3.7595
170 2.9671 -0.7399 -0.3473 5.6697 2.3924 137.0720 3.7826
175 3.0543 -0.7405 -0.1743 5.6919 2.4217 138.7550 3.8073
180 3.1416 -0.7407 0.0000 5.6993 2.4496 140.3521 3.8336
185 3.2289 -0.7405 0.1743 5.6919 2.4759 141.8596 3.8615
190 3.3161 -0.7399 0.3473 5.6697 2.5006 143.2749 3.8908
195 3.4034 -0.7391 0.5176 5.6328 2.5237 144.5961 3.9216
200 3.4907 -0.7378 0.6840 5.5816 2.5451 145.8222 3.9538
205 3.5779 -0.7362 0.8452 5.5164 2.5648 146.9526 3.9871
210 3.6652 -0.7343 1.0000 5.4377 2.5829 147.9874 4.0216
215 3.7525 -0.7321 1.1472 5.3462 2.5993 148.9270 4.0570
220 3.8397 -0.7296 1.2856 5.2425 2.6140 149.7721 4.0932
225 3.9270 -0.7268 1.4142 5.1274 2.6271 150.5234 4.1301
230 4.0143 -0.7238 1.5321 5.0018 2.6386 151.1819 4.1675
235 4.1015 -0.7205 1.6383 4.8666 2.6485 151.7480 4.2051
240 4.1888 -0.7171 1.7321 4.7229 2.6568 152.2220 4.2429
245 4.2761 -0.7134 1.8126 4.5718 2.6634 152.6039 4.2805
250 4.3633 -0.7096 1.8794 4.4144 2.6685 152.8928 4.3178
255 4.4506 -0.7057 1.9319 4.2520 2.6719 153.0873 4.3545
260 4.5379 -0.7017 1.9696 4.0856 2.6736 153.1850 4.3902
265 4.6251 -0.6976 1.9924 3.9167 2.6735 153.1826 4.4249
270 4.7124 -0.6935 2.0000 3.7465 2.6717 153.0755 4.4580
275 4.7997 -0.6893 1.9924 3.5763 2.6679 152.8578 4.4892
280 4.8869 -0.6853 1.9696 3.4074 2.6620 152.5218 4.5182
285 4.9742 -0.6812 1.9319 3.2411 2.6539 152.0582 4.5446
290 5.0615 -0.6773 1.8794 3.0787 2.6434 151.4552 4.5677
295 5.1487 -0.6735 1.8126 2.9213 2.6302 150.6989 4.5871
300 5.2360 -0.6698 1.7321 2.7702 2.6140 149.7725 4.6021
305 5.3233 -0.6664 1.6383 2.6265 2.5945 148.6562 4.6120
310 5.4105 -0.6631 1.5321 2.4913 2.5713 147.3272 4.6161
315 5.4978 -0.6601 1.4142 2.3657 2.5440 145.7597 4.6136
320 5.5851 -0.6573 1.2856 2.2506 2.5120 143.9255 4.6037
325 5.6723 -0.6548 1.1472 2.1469 2.4748 141.7958 4.5856
330 5.7596 -0.6526 1.0000 2.0554 2.4320 139.3436 4.5587
335 5.8469 -0.6507 0.8452 1.9767 2.3832 136.5481 4.5225
340 5.9341 -0.6491 0.6840 1.9115 2.3283 133.4017 4.4770
345 6.0214 -0.6479 0.5176 1.8603 2.2675 129.9179 4.4227
350 6.1087 -0.6470 0.3473 1.8234 2.2016 126.1399 4.3610
355 6.1959 -0.6464 0.1743 1.8012 2.1319 122.1468 4.2935
360 6.2832 -0.6462 0.0000 1.7938 2.0604 118.0532 4.2228

ABIERTO 2V4
3.0000

2.5000

2.0000

1.5000

1.0000
3.0000

2.5000

2.0000

1.5000

1.0000

0.5000

0.0000
0 1 2 3 4 5 6 7

TETA 3 ABIERTO
2.0000
6.0000
1.8000
1.6000 5.0000
1.4000
1.2000 4.0000

1.0000
3.0000
0.8000
0.6000 2.0000
0.4000
0.2000 1.0000

0.0000
0 1 2 3 4 5 6 7 0.0000
0 1
 k4 k5
1.0777 -1.1512

CERRADO ABIERTO CERRADO

ϴ4 D E F ϴ3 ϴ3 ϴ3 ϴ3
GRADOS RAD GRADOS RAD GRADOS
241.9468 -1.2936 0.0000 1.1464 1.5105 86.5429 4.7727 273.4571
237.8532 -1.3015 -0.1743 1.1461 1.4364 82.2969 4.7046 269.5560
233.8601 -1.3251 -0.3473 1.1453 1.3590 77.8626 4.6449 266.1325
230.0821 -1.3644 -0.5176 1.1438 1.2810 73.3979 4.5951 263.2798
226.5983 -1.4189 -0.6840 1.1417 1.2050 69.0417 4.5561 261.0450
223.4519 -1.4882 -0.8452 1.1392 1.1327 64.9009 4.5280 259.4329
220.6564 -1.5719 -1.0000 1.1360 1.0655 61.0467 4.5102 258.4167
218.2042 -1.6693 -1.1472 1.1324 1.0039 57.5178 4.5021 257.9489
216.0745 -1.7797 -1.2856 1.1283 0.9482 54.3277 4.5025 257.9723
214.2403 -1.9021 -1.4142 1.1237 0.8984 51.4718 4.5104 258.4266
212.6728 -2.0357 -1.5321 1.1187 0.8541 48.9350 4.5248 259.2538
211.3438 -2.1795 -1.6383 1.1133 0.8150 46.6961 4.5448 260.4001
210.2275 -2.3324 -1.7321 1.1076 0.7807 44.7318 4.5696 261.8174
209.3011 -2.4932 -1.8126 1.1016 0.7508 43.0190 4.5983 263.4631
208.5448 -2.6606 -1.8794 1.0953 0.7249 41.5356 4.6304 265.3000
207.9418 -2.8335 -1.9319 1.0889 0.7027 40.2618 4.6652 267.2956
207.4782 -3.0105 -1.9696 1.0822 0.6838 39.1799 4.7023 269.4217
207.1422 -3.1902 -1.9924 1.0755 0.6680 38.2747 4.7412 271.6532
206.9245 -3.3712 -2.0000 1.0688 0.6551 37.5333 4.7816 273.9683
206.8174 -3.5523 -1.9924 1.0620 0.6448 36.9446 4.8232 276.3475
206.8150 -3.7320 -1.9696 1.0553 0.6370 36.4998 4.8655 278.7732
206.9127 -3.9090 -1.9319 1.0487 0.6317 36.1915 4.9084 281.2296
207.1072 -4.0818 -1.8794 1.0422 0.6286 36.0141 4.9515 283.7020
207.3961 -4.2493 -1.8126 1.0359 0.6277 35.9631 4.9947 286.1772
207.7780 -4.4101 -1.7321 1.0299 0.6289 36.0353 5.0378 288.6426
208.2520 -4.5629 -1.6383 1.0242 0.6323 36.2284 5.0804 291.0865
208.8181 -4.7067 -1.5321 1.0188 0.6378 36.5410 5.1225 293.4977
209.4766 -4.8404 -1.4142 1.0138 0.6453 36.9724 5.1638 295.8659
210.2279 -4.9628 -1.2856 1.0093 0.6549 37.5222 5.2042 298.1811
211.0730 -5.0732 -1.1472 1.0051 0.6666 38.1907 5.2436 300.4340
212.0126 -5.1706 -1.0000 1.0015 0.6803 38.9780 5.2816 302.6158
213.0474 -5.2542 -0.8452 0.9984 0.6961 39.8844 5.3183 304.7183
214.1778 -5.3236 -0.6840 0.9958 0.7140 40.9102 5.3535 306.7340
215.4039 -5.3781 -0.5176 0.9937 0.7340 42.0550 5.3871 308.6561
216.7251 -5.4173 -0.3473 0.9923 0.7560 43.3184 5.4189 310.4787
218.1404 -5.4410 -0.1743 0.9914 0.7801 44.6990 5.4489 312.1965
 219.6479 -5.4489 0.0000 0.9911 0.8063 46.1949 5.4769 313.8051
221.2450 -5.4410 0.1743 0.9914 0.8343 47.8035 5.5030 315.3010
222.9280 -5.4173 0.3473 0.9923 0.8643 49.5213 5.5271 316.6816
224.6927 -5.3781 0.5176 0.9937 0.8961 51.3439 5.5492 317.9450
226.5336 -5.3236 0.6840 0.9958 0.9297 53.2660 5.5692 319.0898
228.4447 -5.2542 0.8452 0.9984 0.9648 55.2817 5.5871 320.1156
230.4189 -5.1706 1.0000 1.0015 1.0015 57.3842 5.6029 321.0220
232.4484 -5.0732 1.1472 1.0051 1.0396 59.5660 5.6166 321.8093
234.5246 -4.9628 1.2856 1.0093 1.0789 61.8189 5.6283 322.4778
236.6383 -4.8404 1.4142 1.0138 1.1194 64.1341 5.6379 323.0276
238.7794 -4.7067 1.5321 1.0188 1.1607 66.5023 5.6454 323.4590
240.9371 -4.5629 1.6383 1.0242 1.2028 68.9135 5.6509 323.7716
243.1001 -4.4101 1.7321 1.0299 1.2454 71.3574 5.6543 323.9647
245.2558 -4.2493 1.8126 1.0359 1.2885 73.8228 5.6555 324.0369
247.3911 -4.0818 1.8794 1.0422 1.3317 76.2980 5.6546 323.9859
249.4917 -3.9090 1.9319 1.0487 1.3748 78.7704 5.6515 323.8085
251.5420 -3.7320 1.9696 1.0553 1.4177 81.2268 5.6461 323.5002
253.5253 -3.5523 1.9924 1.0620 1.4600 83.6525 5.6384 323.0554
255.4229 -3.3712 2.0000 1.0688 1.5015 86.0317 5.6281 322.4667
257.2143 -3.1902 1.9924 1.0755 1.5419 88.3468 5.6152 321.7253
258.8766 -3.0105 1.9696 1.0822 1.5809 90.5783 5.5994 320.8201
260.3844 -2.8335 1.9319 1.0889 1.6180 92.7044 5.5805 319.7382
261.7092 -2.6606 1.8794 1.0953 1.6528 94.7000 5.5583 318.4644
262.8190 -2.4932 1.8126 1.1016 1.6849 96.5369 5.5324 316.9810
263.6783 -2.3324 1.7321 1.1076 1.7136 98.1826 5.5025 315.2682
264.2476 -2.1795 1.6383 1.1133 1.7383 99.5999 5.4682 313.3039
264.4840 -2.0357 1.5321 1.1187 1.7584 100.7462 5.4291 311.0650
264.3419 -1.9021 1.4142 1.1237 1.7728 101.5734 5.3848 308.5282
263.7745 -1.7797 1.2856 1.1283 1.7807 102.0277 5.3350 305.6723
262.7374 -1.6693 1.1472 1.1324 1.7811 102.0511 5.2793 302.4822
261.1931 -1.5719 1.0000 1.1360 1.7730 101.5833 5.2177 298.9533
259.1181 -1.4882 0.8452 1.1392 1.7552 100.5671 5.1505 295.0991
256.5116 -1.4189 0.6840 1.1417 1.7271 98.9550 5.0782 290.9583
253.4044 -1.3644 0.5176 1.1438 1.6881 96.7202 5.0022 286.6021
249.8650 -1.3251 0.3473 1.1453 1.6383 93.8675 4.9242 282.1374
246.0003 -1.3015 0.1743 1.1461 1.5785 90.4440 4.8468 277.7031
241.9468 -1.2936 0.0000 1.1464 1.5105 86.5429 4.7727 273.4571

CERRADO T2VST4 RP A
5.0000 3.0000
4.5000
4.0000 2.5000

3.5000
2.0000
3.0000
2.5000 1.5000
2.0000
1.5000 1.0000
 5.0000 3.0000
4.5000
4.0000 2.5000

3.5000
2.0000
3.0000
2.5000 1.5000
2.0000
1.5000 1.0000

1.0000
0.5000
0.5000
0.0000 0.0000
0 1 2 3 4 5 6 7 1.5000 2.0000 2.5000

TETA 3 CERRADO RP CER

6.0000 0
-2.0000 -1.5000 -1.0000 -0.5000
-0
5.0000
-1
4.0000 -1
-2
3.0000
-2
2.0000
-3

1.0000 -3
-4
0.0000
0 1 2 3 4 5 6 7 -4
 ABIERTO CERRADO

RPx RPy RP RPx RPy RP w3 w4

2.7313 2.5231 3.7184 -0.4150 -2.7132 2.7447 -8.5836 -8.5836
2.9096 2.4752 3.8200 -0.6001 -2.5235 2.5939 -9.1464 -8.3431
3.0771 2.4066 3.9064 -0.7645 -2.3370 2.4589 -9.3721 -7.7969
3.2257 2.3221 3.9746 -0.9062 -2.1617 2.3439 -9.2808 -6.9913
3.3496 2.2277 4.0228 -1.0254 -2.0036 2.2508 -8.9292 -6.0005
3.4461 2.1294 4.0509 -1.1240 -1.8668 2.1791 -8.3911 -4.9071
3.5148 2.0322 4.0600 -1.2046 -1.7531 2.1270 -7.7400 -3.7852
3.5572 1.9398 4.0517 -1.2698 -1.6625 2.0919 -7.0372 -2.6921
3.5759 1.8545 4.0282 -1.3220 -1.5941 2.0710 -6.3275 -1.6655
3.5739 1.7773 3.9914 -1.3631 -1.5463 2.0613 -5.6406 -0.7268
3.5541 1.7083 3.9433 -1.3947 -1.5170 2.0607 -4.9932 0.1150
3.5195 1.6470 3.8858 -1.4178 -1.5042 2.0671 -4.3932 0.8593
3.4725 1.5924 3.8202 -1.4333 -1.5059 2.0789 -3.8427 1.5104
3.4155 1.5435 3.7481 -1.4418 -1.5202 2.0951 -3.3397 2.0751
3.3504 1.4992 3.6706 -1.4436 -1.5453 2.1147 -2.8808 2.5613
3.2789 1.4584 3.5886 -1.4392 -1.5797 2.1370 -2.4612 2.9768
3.2025 1.4202 3.5033 -1.4288 -1.6221 2.1616 -2.0759 3.3292
3.1225 1.3837 3.4154 -1.4125 -1.6711 2.1881 -1.7202 3.6251
3.0401 1.3482 3.3256 -1.3907 -1.7257 2.2163 -1.3895 3.8706
2.9564 1.3131 3.2349 -1.3635 -1.7849 2.2461 -1.0794 4.0708
2.8723 1.2781 3.1438 -1.3312 -1.8478 2.2774 -0.7864 4.2302
2.7886 1.2428 3.0530 -1.2939 -1.9137 2.3101 -0.5068 4.3525
2.7063 1.2071 2.9633 -1.2519 -1.9819 2.3442 -0.2379 4.4410
2.6259 1.1710 2.8752 -1.2055 -2.0519 2.3798 0.0231 4.4983
2.5482 1.1346 2.7894 -1.1549 -2.1231 2.4169 0.2784 4.5269
2.4737 1.0980 2.7064 -1.1004 -2.1952 2.4555 0.5300 4.5287
2.4029 1.0615 2.6269 -1.0423 -2.2678 2.4958 0.7793 4.5056
2.3363 1.0255 2.5514 -0.9809 -2.3406 2.5379 1.0275 4.4592
2.2742 0.9904 2.4804 -0.9165 -2.4135 2.5817 1.2757 4.3911
2.2168 0.9566 2.4144 -0.8494 -2.4863 2.6274 1.5244 4.3026
2.1644 0.9247 2.3536 -0.7797 -2.5588 2.6750 1.7736 4.1955
2.1170 0.8952 2.2985 -0.7079 -2.6309 2.7245 2.0234 4.0712
2.0746 0.8687 2.2492 -0.6340 -2.7027 2.7760 2.2732 3.9314
2.0373 0.8456 2.2058 -0.5582 -2.7739 2.8295 2.5222 3.7778
2.0047 0.8265 2.1684 -0.4809 -2.8446 2.8849 2.7692 3.6121
1.9768 0.8118 2.1370 -0.4020 -2.9146 2.9422 3.0131 3.4363
 1.9530 0.8020 2.1113 -0.3218 -2.9839 3.0012 3.2522 3.2522
1.9331 0.7975 2.0912 -0.2403 -3.0523 3.0618 3.4848 3.0616
1.9167 0.7984 2.0763 -0.1577 -3.1198 3.1237 3.7091 2.8662
1.9032 0.8050 2.0664 -0.0741 -3.1860 3.1868 3.9234 2.6678
1.8921 0.8174 2.0612 0.0105 -3.2508 3.2508 4.1260 2.4678
1.8830 0.8357 2.0601 0.0958 -3.3139 3.3153 4.3151 2.2673
1.8752 0.8598 2.0630 0.1817 -3.3751 3.3799 4.4892 2.0673
1.8683 0.8896 2.0693 0.2679 -3.4340 3.4444 4.6469 1.8686
1.8619 0.9249 2.0789 0.3543 -3.4903 3.5082 4.7868 1.6715
1.8553 0.9655 2.0915 0.4406 -3.5437 3.5710 4.9078 1.4761
1.8483 1.0110 2.1068 0.5262 -3.5940 3.6323 5.0086 1.2822
1.8406 1.0611 2.1246 0.6108 -3.6406 3.6915 5.0880 1.0892
1.8318 1.1155 2.1447 0.6939 -3.6835 3.7483 5.1449 0.8964
1.8218 1.1737 2.1671 0.7748 -3.7223 3.8021 5.1780 0.7028
1.8104 1.2353 2.1917 0.8529 -3.7567 3.8523 5.1857 0.5068
1.7978 1.2999 2.2185 0.9274 -3.7867 3.8986 5.1663 0.3070
1.7840 1.3671 2.2475 0.9974 -3.8119 3.9402 5.1178 0.1012
1.7692 1.4364 2.2789 1.0619 -3.8323 3.9767 5.0375 -0.1128
1.7538 1.5076 2.3127 1.1198 -3.8477 4.0074 4.9223 -0.3378
1.7382 1.5802 2.3491 1.1701 -3.8582 4.0317 4.7685 -0.5769
1.7231 1.6539 2.3884 1.2112 -3.8635 4.0489 4.5714 -0.8337
1.7093 1.7284 2.4309 1.2418 -3.8637 4.0584 4.3255 -1.1125
1.6978 1.8036 2.4770 1.2604 -3.8586 4.0593 4.0240 -1.4180
1.6898 1.8790 2.5270 1.2651 -3.8480 4.0507 3.6591 -1.7558
1.6867 1.9545 2.5817 1.2542 -3.8316 4.0317 3.2214 -2.1317
1.6901 2.0299 2.6414 1.2257 -3.8089 4.0012 2.7004 -2.5522
1.7021 2.1048 2.7069 1.1776 -3.7790 3.9582 2.0844 -3.0238
1.7249 2.1787 2.7788 1.1080 -3.7407 3.9014 1.3616 -3.5522
1.7609 2.2510 2.8579 1.0153 -3.6926 3.8297 0.5211 -4.1409
1.8128 2.3206 2.9447 0.8983 -3.6326 3.7420 -0.4444 -4.7895
1.8833 2.3860 3.0397 0.7567 -3.5580 3.6376 -1.5351 -5.4899
1.9746 2.4449 3.1427 0.5917 -3.4664 3.5165 -2.7386 -6.2226
2.0882 2.4943 3.2530 0.4061 -3.3551 3.3796 -4.0238 -6.9525
2.2242 2.5305 3.3690 0.2050 -3.2227 3.2292 -5.3362 -7.6257
2.3803 2.5496 3.4880 -0.0045 -3.0693 3.0693 -6.5968 -8.1720
2.5518 2.5479 3.6061 -0.2140 -2.8977 2.9056 -7.7106 -8.5139
2.7313 2.5231 3.7184 -0.4150 -2.7132 2.7447 -8.5836 -8.5836

grafica de la velocidad del punto P de

RP ABIERTO
25.0000
0
agnitud de la velocidad P

20.0000
0
15.0000
0
10.0000
0
5.0000
0
 25.0000
0

Magnitud de la velocidad P
20.0000
0
15.0000
0
10.0000
0
5.0000
0
0.0000
0 0 1 2 3 4
angulo teta 2
0
.5000 2.0000 2.5000 3.0000 3.5000 4.0000

RP CERRADO
0.0000
-1.5000 -1.0000 -0.5000 0.0000 0.5000 1.0000 1.5000
-0.5000
-1.0000
-1.5000
-2.0000
-2.5000
-3.0000
-3.5000
-4.0000
-4.5000
 F
K1 = d/a
K2 = d/c
K3 = (a^2-b^2+c^2+d^2) / 2ac

A = COS θ2 - K1 - K2 * Cos θ2 +
B = -2 sen θ2
C = K1- (K2+1)Cos θ2 + K3
θ4 1-2 = 2Arctan((-B+-Raiz(B

VA REAL VA IMAGINARIO |VA| Vpa Real Vpa imaginario |Vpa|

0.0000 10.4720 10.4720 21.6574 -14.8609 26.2658
-0.9127 10.4321 10.4720 21.8417 -17.5004 27.9879
-1.8184 10.3129 10.4720 20.9272 -19.6089 28.6785
-2.7103 10.1152 10.4720 19.1489 -20.9723 28.3992
-3.5816 9.8404 10.4720 16.8375 -21.5188 27.3232
-4.4256 9.4908 10.4720 14.3215 -21.3119 25.6769
-5.2360 9.0690 10.4720 11.8589 -20.5017 23.6845
-6.0065 8.5781 10.4720 9.6143 -19.2683 21.5337
-6.7313 8.0220 10.4720 7.6672 -17.7795 19.3622
-7.4048 7.4048 10.4720 6.0367 -16.1701 17.2602
-8.0220 6.7313 10.4720 4.7050 -14.5367 15.2792
-8.5781 6.0065 10.4720 3.6369 -12.9420 13.4433
-9.0690 5.2360 10.4720 2.7912 -11.4224 11.7585
-9.4908 4.4256 10.4720 2.1281 -9.9956 10.2196
-9.8404 3.5816 10.4720 1.6118 -8.6666 8.8152
-10.1152 2.7103 10.4720 1.2121 -7.4330 7.5312
-10.3129 1.8184 10.4720 0.9038 -6.2877 6.3523
-10.4321 0.9127 10.4720 0.6666 -5.2215 5.2639
-10.4720 0.0000 10.4720 0.4838 -4.2242 4.2518
-10.4321 -0.9127 10.4720 0.3421 -3.2853 3.3031
-10.3129 -1.8184 10.4720 0.2306 -2.3952 2.4063
-10.1152 -2.7103 10.4720 0.1403 -1.5446 1.5509
-9.8404 -3.5816 10.4720 0.0636 -0.7251 0.7279
-9.4908 -4.4256 10.4720 -0.0061 0.0705 0.0708
-9.0690 -5.2360 10.4720 -0.0748 0.8488 0.8520
-8.5781 -6.0065 10.4720 -0.1478 1.6149 1.6217
-8.0220 -6.7313 10.4720 -0.2302 2.3734 2.3845
-7.4048 -7.4048 10.4720 -0.3272 3.1272 3.1443
-6.7313 -8.0220 10.4720 -0.4434 3.8785 3.9037
-6.0065 -8.5781 10.4720 -0.5839 4.6278 4.6645
-5.2360 -9.0690 10.4720 -0.7533 5.3748 5.4273
-4.4256 -9.4908 10.4720 -0.9562 6.1173 6.1916
-3.5816 -9.8404 10.4720 -1.1971 6.8521 6.9559
-2.7103 -10.1152 10.4720 -1.4799 7.5746 7.7178
-1.8184 -10.3129 10.4720 -1.8079 8.2788 8.4739
-0.9127 -10.4321 10.4720 -2.1835 8.9578 9.2201
 0.0000 -10.4720 10.4720 -2.6084 9.6037 9.9516
0.9127 -10.4321 10.4720 -3.0827 10.2080 10.6634
1.8184 -10.3129 10.4720 -3.6054 10.7620 11.3499
2.7103 -10.1152 10.4720 -4.1738 11.2568 12.0057
3.5816 -9.8404 10.4720 -4.7839 11.6841 12.6255
4.4256 -9.4908 10.4720 -5.4299 12.0361 13.2042
5.2360 -9.0690 10.4720 -6.1046 12.3061 13.7370
6.0065 -8.5781 10.4720 -6.7994 12.4886 14.2196
6.7313 -8.0220 10.4720 -7.5044 12.5794 14.6477
7.4048 -7.4048 10.4720 -8.2087 12.5758 15.0178
8.0220 -6.7313 10.4720 -8.9005 12.4769 15.3262
8.5781 -6.0065 10.4720 -9.5669 12.2832 15.5693
9.0690 -5.2360 10.4720 -10.1947 11.9968 15.7435
9.4908 -4.4256 10.4720 -10.7701 11.6214 15.8446
9.8404 -3.5816 10.4720 -11.2788 11.1621 15.8683
10.1152 -2.7103 10.4720 -11.7059 10.6253 15.8090
10.3129 -1.8184 10.4720 -12.0363 10.0187 15.6604
10.4321 -0.9127 10.4720 -12.2542 9.3512 15.4146
10.4720 0.0000 10.4720 -12.3430 8.6325 15.0622
10.4321 0.9127 10.4720 -12.2853 7.8729 14.5915
10.3129 1.8184 10.4720 -12.0625 7.0832 13.9884
10.1152 2.7103 10.4720 -11.6544 6.2741 13.2360
9.8404 3.5816 10.4720 -11.0389 5.4558 12.3135
9.4908 4.4256 10.4720 -10.1917 4.6367 11.1969
9.0690 5.2360 10.4720 -9.0861 3.8227 9.8575
8.5781 6.0065 10.4720 -7.6934 3.0150 8.2631
8.0220 6.7313 10.4720 -5.9839 2.2080 6.3783
7.4048 7.4048 10.4720 -3.9293 1.3858 4.1665
6.7313 8.0220 10.4720 -1.5080 0.5184 1.5947
6.0065 8.5781 10.4720 1.2862 -0.4416 1.3599
5.2360 9.0690 10.4720 4.4303 -1.5616 4.6974
4.4256 9.4908 10.4720 7.8528 -2.9256 8.3801
3.5816 9.8404 10.4720 11.4127 -4.6215 12.3129
2.7103 10.1152 10.4720 14.8845 -6.7143 16.3288
1.8184 10.3129 10.4720 17.9649 -9.2060 20.1863
0.9127 10.4321 10.4720 20.3179 -11.9949 23.5943
0.0000 10.4720 10.4720 21.6574 -14.8609 26.2658

velocidad del punto P del acoplador

2 3 4 5 6 7
angulo teta 2
 FORUMLAS DE POSICIÓN
K1 = d/a K4 = d/b
K2 = d/c K5 = (c^2-d^2-a^2-b^2)/2ab
K3 = (a^2-b^2+c^2+d^2) / 2ac

A = COS θ2 - K1 - K2 * Cos θ2 + K3 D = cos θ2 - K1 + K4*cos θ2 +K5

B = -2 sen θ2 E = -2 senθ2
C = K1- (K2+1)Cos θ2 + K3 F = K1 + (K4-1)*cosθ2 + K5
θ4 1-2 = 2Arctan((-B+-Raiz(B^2-4AC)/2A)
Radianes
VP Real VP imaginaria |VP| Ángulo VP Ángulo VP A B C
21.6574 -4.3889 22.0977 348.5440 6.0832 2.0563 2.0563 199.5494
20.9290 -7.0683 22.0904 341.3388 5.9575 2.1286 2.0414 198.2627
19.1087 -9.2960 21.2499 334.0580 5.8304 2.1876 2.0140 194.7046
16.4386 -10.8571 19.7003 326.5566 5.6995 2.2329 1.9741 189.0100
13.2559 -11.6783 17.6664 318.6202 5.5610 2.2657 1.9237 181.1801
9.8958 -11.8211 15.4164 309.9338 5.4094 2.2881 1.8655 171.2777
6.6230 -11.4327 13.2125 300.0836 5.2374 2.3025 1.8025 159.5538
3.6078 -10.6901 11.2825 288.6490 5.0379 2.3113 1.7377 146.4400
0.9360 -9.7575 9.8023 275.4793 4.8080 2.3163 1.6735 132.4560
-1.3681 -8.7653 8.8714 441.1286 7.6991 2.3186 1.6115 118.1073
-3.3170 -7.8054 8.4810 426.9766 7.4521 2.3192 1.5532 103.8171
-4.9413 -6.9355 8.5157 414.5319 7.2349 2.3183 1.4991 89.8985
-6.2778 -6.1864 8.8138 404.5802 7.0613 2.3158 1.4498 76.5570
-7.3627 -5.5699 9.2322 397.1075 6.9308 2.3117 1.4054 63.9081
-8.2286 -5.0850 9.6730 391.7144 6.8367 2.3056 1.3660 51.9993
-8.9030 -4.7226 10.0781 387.9437 6.7709 2.2973 1.3313 40.8309
-9.4091 -4.4693 10.4166 385.4076 6.7266 2.2862 1.3014 30.3734
-9.7656 -4.3088 10.6739 383.8083 6.6987 2.2722 1.2760 20.5805
-9.9882 -4.2242 10.8447 382.9242 6.6833 2.2550 1.2550 11.3983
-10.0900 -4.1980 10.9285 382.5901 6.6775 2.2343 1.2381 2.7717
-10.0823 -4.2136 10.9273 382.6813 6.6790 2.2101 1.2253 -5.3507
-9.9748 -4.2549 10.8444 383.1014 6.6864 2.1823 1.2164 -13.0138
-9.7768 -4.3067 10.6834 383.7737 6.6981 2.1509 1.2112 -20.2546
-9.4970 -4.3551 10.4479 384.6353 6.7132 2.1161 1.2098 -27.1002
-9.1438 -4.3872 10.1418 385.6319 6.7305 2.0779 1.2119 -33.5674
-8.7259 -4.3915 9.7687 386.7150 6.7495 2.0366 1.2175 -39.6626
-8.2522 -4.3579 9.3322 387.8379 6.7690 1.9926 1.2265 -45.3814
-7.7320 -4.2776 8.8363 388.9529 6.7885 1.9461 1.2389 -50.7092
-7.1747 -4.1435 8.2852 390.0074 6.8069 1.8975 1.2547 -55.6222
-6.5903 -3.9503 7.6836 390.9387 6.8232 1.8472 1.2737 -60.0887
-5.9893 -3.6942 7.0369 391.6666 6.8359 1.7958 1.2958 -64.0707
-5.3819 -3.3735 6.3518 392.0808 6.8431 1.7436 1.3210 -67.5270
-4.7788 -2.9883 5.6362 392.0192 6.8420 1.6911 1.3490 -70.4156
-4.1902 -2.5406 4.9003 391.2287 6.8282 1.6387 1.3799 -72.6969
-3.6263 -2.0341 4.1578 389.2892 6.7944 1.5869 1.4133 -74.3371
-3.0962 -1.4743 3.4293 385.4624 6.7276 1.5361 1.4490 -75.3114
-2.6084 -0.8683 2.7491 378.4113 6.6045 1.4867 1.4867 -75.6057
-2.1700 -0.2241 2.1815 365.8956 6.3861 1.4390 1.5261 -75.2187
-1.7869 0.4491 1.8425 345.8917 6.0369 1.3933 1.5669 -74.1624
-1.4635 1.1417 1.8561 322.0421 5.6207 1.3499 1.6087 -72.4612
-1.2023 1.8436 2.2010 303.1090 5.2903 1.3089 1.6509 -70.1502
-1.0042 2.5453 2.7362 291.5318 5.0882 1.2706 1.6932 -67.2732
-0.8686 3.2371 3.3516 285.0201 4.9745 1.2351 1.7351 -63.8790
-0.7929 3.9104 3.9900 281.4622 4.9124 1.2026 1.7762 -60.0185
-0.7732 4.5574 4.6225 279.6287 4.8804 1.1730 1.8158 -55.7417
-0.8039 5.1710 5.2331 278.8371 4.8666 1.1465 1.8536 -51.0941
-0.8785 5.7457 5.8124 278.6927 4.8641 1.1231 1.8892 -46.1149
-0.9887 6.2767 6.3541 278.9520 4.8686 1.1029 1.9221 -40.8350
-1.1257 6.7608 6.8539 279.4534 4.8774 1.0859 1.9519 -35.2751
-1.2793 7.1958 7.3086 280.0809 4.8883 1.0721 1.9784 -29.4451
-1.4383 7.5804 7.7157 280.7436 4.8999 1.0617 2.0014 -23.3435
-1.5907 7.9149 8.0732 281.3639 4.9107 1.0546 2.0206 -16.9568
-1.7234 8.2003 8.3794 281.8688 4.9195 1.0511 2.0359 -10.2592
-1.8220 8.4385 8.6330 282.1842 4.9250 1.0512 2.0474 -3.2129
-1.8710 8.6325 8.8329 282.2292 4.9258 1.0551 2.0551 4.2322
-1.8532 8.7856 8.9789 281.9112 4.9203 1.0629 2.0591 12.1380
-1.7497 8.9016 9.0720 281.1200 4.9065 1.0751 2.0599 20.5778
-1.5393 8.9845 9.1154 279.7219 4.8821 1.0918 2.0577 29.6343
-1.1985 9.0374 9.1165 277.5541 4.8442 1.1134 2.0531 39.3976
-0.7009 9.0623 9.0894 274.4223 4.7896 1.1403 2.0466 49.9594
-0.0171 9.0587 9.0587 270.1083 4.7143 1.1730 2.0390 61.4051
0.8847 9.0215 9.0648 444.3992 7.7562 1.2120 2.0312 73.7999
2.0381 8.9393 9.1687 437.1566 7.6298 1.2578 2.0239 87.1682
3.4755 8.7906 9.4527 428.4279 7.4775 1.3110 2.0181 101.4634
5.2232 8.5404 10.0111 418.5506 7.3051 1.3720 2.0148 116.5295
7.2927 8.1366 10.9264 408.1306 7.1232 1.4410 2.0146 132.0558
9.6662 7.5074 12.2392 397.8351 6.9435 1.5180 2.0180 147.5398
12.2784 6.5653 13.9235 388.1334 6.7742 1.6024 2.0251 162.2790
14.9943 5.2190 15.8767 379.1911 6.6181 1.6929 2.0349 175.4283
17.5948 3.4009 17.9205 370.9397 6.4741 1.7870 2.0458 186.1462
19.7833 1.1069 19.8143 363.2025 6.3391 1.8817 2.0553 193.8111
21.2306 -1.5628 21.2880 355.7901 6.2097 1.9728 2.0599 198.2086
21.6574 -4.3889 22.0977 348.5440 6.0832 2.0563 2.0563 199.5494
 FORMULAS DE VELOCIDADES

D E F α3 α4 AA Real
-1.0958 0.1242 -0.5411 -86.7205296 10.3247034 -109.662271
-0.9477 0.2761 -32.7100 -46.8867826 48.1768206 -109.244973
-0.8021 0.4331 -63.4850 -6.74482035 82.7943312 -107.996255
-0.6655 0.5886 -89.8015 28.4388923 109.788713 -105.92562
-0.5435 0.7368 -109.8128 55.3750661 126.981353 -103.048827
-0.4399 0.8738 -123.0905 73.1582831 134.501535 -99.3877703
-0.3567 0.9972 -130.2949 82.7060109 134.041226 -94.9703126
-0.2946 1.1063 -132.6475 85.8483236 127.902215 -89.8300736
-0.2527 1.2013 -131.4810 84.5707031 118.286692 -84.0061734
-0.2297 1.2832 -127.9737 80.5858492 106.947988 -77.5429356
-0.2240 1.3532 -123.0468 75.1852495 95.1152491 -70.4895491
-0.2335 1.4129 -117.3623 69.2536838 83.5614494 -62.8996947
-0.2566 1.4634 -111.3654 63.3499842 72.7178284 -54.8311356
-0.2913 1.5061 -105.3376 57.7982312 62.7837539 -46.3452784
-0.3360 1.5420 -99.4444 52.7653869 53.8132638 -37.5067057
-0.3892 1.5720 -93.7731 48.3192535 45.776261 -28.3826843
-0.4495 1.5968 -88.3597 44.4684723 38.5987833 -19.0426535
-0.5156 1.6172 -83.2079 41.1886421 32.1880595 -9.55769669
-0.5864 1.6336 -78.3018 38.4386068 26.4473055 -6.7149E-15
-0.6608 1.6464 -73.6138 36.1701424 21.2839606 9.55769669
-0.7377 1.6560 -69.1104 34.3333749 16.6139083 19.0426535
-0.8163 1.6625 -64.7550 32.879515 12.3633412 28.3826843
-0.8957 1.6663 -60.5105 31.7619539 8.46931098 37.5067057
-0.9753 1.6674 -56.3408 30.936393 4.87958907 46.3452784
-1.0542 1.6658 -52.2116 30.3604436 1.55219546 54.8311356
-1.1318 1.6617 -48.0914 29.9929811 -1.54521963 62.8996947
-1.2077 1.6551 -43.9527 29.7934514 -4.43606612 70.4895491
-1.2813 1.6458 -39.7719 29.7212754 -7.13557039 77.5429356
-1.3522 1.6338 -35.5313 29.7354648 -9.65163102 84.0061734
-1.4201 1.6191 -31.2187 29.7945382 -11.9858254 89.8300736
-1.4846 1.6014 -26.8289 29.8568 -14.134616 94.9703126
-1.5456 1.5807 -22.3637 29.8810047 -16.0907837 99.3877703
-1.6029 1.5568 -17.8324 29.8273823 -17.8450772 103.048827
-1.6564 1.5296 -13.2512 29.6589417 -19.3880201 105.92562
-1.7060 1.4988 -8.6427 29.3429097 -20.7117621 107.996255
-1.7519 1.4643 -4.0348 28.8521205 -21.8118246 109.244973
-1.7941 1.4259 0.5411 28.1661465 -22.6885686 109.662271
-1.8325 1.3837 5.0518 27.2719832 -23.3482315 109.244973
-1.8675 1.3373 9.4647 26.1641519 -23.8034233 107.996255
-1.8992 1.2868 13.7498 24.8441669 -24.0730485 105.92562
-1.9276 1.2321 17.8812 23.3194071 -24.1817029 103.048827
-1.9531 1.1733 21.8390 21.6015139 -24.1586665 99.3877703
-1.9757 1.1103 25.6100 19.7044908 -24.0366643 94.9703126
-1.9957 1.0435 29.1880 17.6426934 -23.8505807 89.8300736
-2.0132 0.9729 32.5742 15.4288807 -23.6362983 84.0061734
-2.0284 0.8987 35.7766 13.0724484 -23.4297909 77.5429356
-2.0414 0.8213 38.8091 10.5779064 -23.2665515 70.4895491
-2.0524 0.7411 41.6910 7.94360417 -23.1813887 62.8996947
-2.0615 0.6585 44.4460 5.16065734 -23.208582 54.8311356
-2.0687 0.5739 47.1011 2.21200043 -23.3823652 46.3452784
-2.0741 0.4880 49.6865 -0.92852953 -23.7376894 37.5067057
-2.0777 0.4012 52.2342 -4.29717223 -24.3112121 28.3826843
-2.0794 0.3142 54.7776 -7.94136761 -25.1424555 19.0426535
-2.0794 0.2278 57.3515 -11.9210769 -26.2750643 9.55769669
-2.0774 0.1426 59.9909 -16.3103037 -27.7580645 2.01446E-14
-2.0734 0.0594 62.7303 -21.1987328 -29.6469644 -9.55769669
-2.0671 -0.0208 65.6027 -26.6932538 -32.0044168 -19.0426535
-2.0584 -0.0972 68.6377 -32.9188835 -34.8999528 -28.3826843
-2.0468 -0.1688 71.8575 -40.0181621 -38.4079386 -37.5067057
-2.0319 -0.2345 75.2722 -48.1473783 -42.6023201 -46.3452784
-2.0132 -0.2932 78.8700 -57.4668203 -47.5458245 -54.8311356
-1.9900 -0.3435 82.6032 -68.1205197 -53.2699879 -62.8996947
-1.9613 -0.3841 86.3659 -80.1986054 -59.7407579 -70.4895491
-1.9262 -0.4133 89.9609 -93.6728458 -66.8029514 -77.5429356
-1.8832 -0.4293 93.0537 -108.294791 -74.0970569 -84.0061734
-1.8309 -0.4301 95.1146 -123.450151 -80.947267 -89.8300736
-1.7676 -0.4136 95.3591 -137.980429 -86.2365524 -94.9703126
-1.6915 -0.3778 92.7160 -150.023887 -88.3206151 -99.3877703
-1.6010 -0.3207 85.8796 -156.996157 -85.0872406 -103.048827
-1.4951 -0.2411 73.5234 -155.896796 -74.3103898 -105.92562
-1.3741 -0.1389 54.7274 -144.099132 -54.397211 -107.996255
-1.2398 -0.0160 29.5481 -120.532256 -25.3856459 -109.244973
-1.0958 0.1242 -0.5411 -86.7205296 10.3247034 -109.662271
 Radianes Grados
AA Imaginaria /AA/ APA Real APA imaginaria /APA/ Angulo AAp Angulo Aap
0 109.662271 91.2467232 -336.03910028 348.207182 4.97753192 285.191572
-9.5576966911389 109.662271 -48.0991867 -289.48422913 293.452979 7.68933106 440.566217
-19.042653539363 109.662271 -168.714886 -210.24242144 269.56741 7.17773163 411.253729
-28.382684295884 109.662271 -253.316539 -113.45215484 277.561993 6.70426413 384.12604
-37.50670568698 109.662271 -296.564199 -16.894338458 297.045019 6.34009069 363.260438
-46.345278400631 109.662271 -303.692955 65.6350362008 310.704633 6.070336 347.804633
-54.831135561608 109.662271 -285.40253 127.282382036 312.498654 5.86368364 335.964325
-62.899694673016 109.662271 -252.881271 167.401847186 303.269378 5.69843571 326.496316
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-107.99625481507 109.662271 -11.9526345 104.395139991 105.077166 4.82638675 276.531591
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-103.04882695311 109.662271 -8.667114 96.8045149979 97.1917331 4.80168302 275.116172
-99.387770263094 109.662271 -8.19153025 94.3102842551 94.6653626 4.79902877 274.964094
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-62.899694673016 109.662271 -18.4665651 89.5642092505 91.4481361 4.91572204 281.650126
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-1.342975493E-14 109.662271 -53.823157 74.6924411795 92.0646132 5.33680517 305.776412
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2.6859509864E-14 109.662271 91.2467232 -336.03910028 348.207182 4.97753192 285.191572
 RESPUESTA Grados Radianes
Ap Real Ap Imaginaria /AP/ Angulo Ap Angulo Ap
-18.4155479 -336.03910028 336.543325 7.7992346 446.863226 266.863226
260.566217 -157.34416 -299.04192582 337.910133 7.36962503 422.248411 242.248411
-276.711141 -229.28507498 359.361518 6.9751284 399.645419
-359.242158 -141.83483914 386.227977 6.65921544 381.544939
-399.613026 -54.401044145 403.298952 6.41848788 367.752266
-403.080725 19.2897578 403.542025 6.23536597 357.260154
-380.372842 72.451246474 387.211418 6.09496564 349.215807
-342.711345 104.50215251 358.290058 5.98721392 343.042089
-298.982927 118.62775468 321.657169 5.90546565 338.358258
-254.996498 119.42570692 281.577189 5.84518286 334.904308
-213.920199 111.38791433 241.18275 5.80311639 332.494077
-177.087776 98.206213294 202.49578 5.77684608 330.988899
-144.739558 82.614191039 166.657266 5.76452957 330.283216
-116.556947 66.49049798 134.188331 5.76477339 330.297185
-91.9960867 51.047897981 105.210113 5.77659396 330.974454
-70.4733783 37.020528942 79.6053806 5.79949356 332.286504
-51.4563228 24.816604854 57.1280757 5.83380999 334.252691
-34.499618 14.631101677 37.4738946 5.88208179 337.018461
-19.2523428 6.5238509725 20.3276496 5.95646893 341.28053
-5.45146101 0.47121137 5.47178831 6.19696199 355.059768
7.09001905 -3.6011148241 7.95213167 5.81322713 333.07338
18.4960164 -5.7981581663 19.3835306 5.97940655 342.594759
28.8395917 -6.2443119552 29.5078546 6.06995797 347.782973
38.1537482 -5.0774860079 38.4901203 6.15088307 352.41964
46.4407814 -2.4467061292 46.5051884 6.23054954 356.984193
53.6804197 1.4882745943 53.7010468 6.31090293 361.588103
59.8370904 6.5563735946 60.195211 6.39232034 366.252977
64.8666446 12.57435346 66.07417 6.4746598 370.97068
68.7228068 19.346386486 71.3940252 6.55759677 375.722619
71.3635085 26.664514578 76.1823253 6.64076623 380.487878
72.7571318 34.310406514 80.4413092 6.72383502 385.247369
72.888532 42.05868221 84.1526639 6.80654192 389.986125
71.7645597 49.681892872 87.2836898 6.88871807 394.694471
69.4186822 56.957016098 89.7945161 6.97029314 399.368379
65.9142414 63.673068232 91.6457683 7.0512905 404.009186
61.3459196 69.639195999 92.8059237 7.13181372 408.622826
 55.8391141 74.692441179 93.2575328 7.2120265 413.21868
49.547147 78.704326922 93.0015637 7.29212767 417.808139
42.6465098 81.585519484 92.0593384 7.37232245 422.402961
35.3306109 83.288064878 90.4718399 7.45279068 427.013452
27.8026968 83.805037091 88.2965129 7.53365272 431.646505
20.268704 83.167789188 85.6019948 7.61493301 436.303523
12.9307669 81.441294083 82.4614402 7.69652192 440.978223
5.98195826 78.718242506 78.9452059 7.77813539 445.65433
-0.39736564 75.112610761 75.1136618 4.7176792 270.303107
-6.04146479 70.753334274 71.0107992 4.79757007 274.880517
-10.7993984 65.778562727 66.6591803 4.87511536 279.323535
-14.5336584 60.330774296 62.0566641 4.94878438 283.544459
-17.1174822 54.552829419 57.175339 5.0164378 287.420714
-18.4310776 48.584872658 51.9633955 5.07497519 290.77466
-18.3569539 42.561851586 46.3517957 5.1195842 293.330568
-16.7744971 36.611306184 40.2712241 5.14202293 294.616212
-13.5538793 30.850971897 33.6970342 5.1263377 293.717515
-8.54937875 25.385607709 26.7865816 5.03723881 288.612524
-1.59224556 20.30227542 20.3646172 4.79065573 274.484354
7.51655898 15.66302196 17.3732241 7.40654944 424.364023
19.0130041 11.493517118 22.2170039 6.82691308 391.153306
33.1744528 7.7656491408 34.0712433 6.51313019 373.174871
50.3189094 4.3713970838 50.5084325 6.36984159 364.965039
70.7934508 1.0846151821 70.801759 6.29850495 360.877751
94.9419877 -2.4929035891 94.9747103 6.25693421 358.495923
123.035893 -7.0035469835 123.235063 6.22632387 356.74208
155.141774 -13.421839842 155.721276 6.1968868 355.05546
190.890169 -23.143296157 192.287984 6.16253534 353.087266
229.103652 -38.032329392 232.238975 6.11868058 350.574573
267.259831 -60.33936139 273.986598 6.0611377 347.277609
300.839243 -92.330739037 314.689077 5.98540067 342.938197
322.789312 -135.42736378 350.047869 5.88593698 337.239347
323.640613 -188.72970864 374.649368 5.75525069 329.751575
293.094331 -247.20124818 383.422409 5.58252444 319.855089
223.692827 -300.5610235 374.667065 5.35220053 306.658502
115.878253 -334.60958627 354.106403 5.04577167 289.101421
-18.4155479 -336.03910028 336.543325 7.7992346 446.863226