tramo 1 se selecciono el movimiento semiciclo

tramo 2

tramo 3
tramo 4

tramo 5
 ecuacion L total
amo 1 se selecciono el movimiento semicicloidal de subida parte baja

l1 1.473 beta
beta 1 1.85 106
thetha 17.6666667
radianes teta beta teta/beta
0 0 106 0
0.3083415 17.6666667 106 0.166666667
0.616683 35.3333333 106 0.333333333
0.9250245 53 106 0.5
1.233366 70.6666667 106 0.666666667
1.54170751 88.3333333 106 0.833333333
constante 1.85004901 106 106 1

l1 1.473
l2 1.25 beta 2
beta 2 45
7.5
teta beta teta/beta
1.85004901 0 45 0
1.9809487 7.5 45 0.166666667
2.11184839 15 45 0.333333333
2.24274809 22.5 45 0.5
2.37364778 30 45 0.666666667
2.50454748 37.5 45 0.833333333
2.63544717 45 45 1
l1 1.473
l2 1.25

se selecciono el movimiento
semiarmonico de subida
parte alta l3 0.277
beta 3 0.27349309 15.67
thetha 0.04558218 2.61166667
teta beta teta/beta
2.63544717 0 15.67 0
2.68102935 2.61166667 15.67 0.166666667
2.72661154 5.22333333 15.67 0.333333333
2.77219372 7.835 15.67 0.5
 2.8177759 10.4466667 15.67 0.666666667
2.86335808 13.0583333 15.67 0.833333333
2.90894026 15.67 15.67 1

Movimiento armonico
modificado de retorno
completo l3 0.277
l4 3
beta 4 1.79995806 103.13
thehta 4 0.29999301 17.1883333
teta beta teta/beta
2.90894026 0 103.13 0
3.20893327 17.1883333 103.13 0.166666667
3.50892628 34.3766667 103.13 0.333333333
3.80891929 51.565 103.13 0.5
4.1089123 68.7533333 103.13 0.666666667
4.40890531 85.9416667 103.13 0.833333333
4.70889832 103.13 103.13 1

reposo l4 3
l5 0
beta 5 1.57079633 90
Theta 5 0.26179939 15

teta beta teta/beta

4.70889832 0 90 0
4.97069771 15 90 0.166666667
5.2324971 30 90 0.333333333
5.49429649 45 90 0.5
5.75609587 60 90 0.666666667
6.01789526 75 90 0.833333333
6.27969465 90 90 1
 rb 1

elevacion rx ry
0 0 1
0.011064769 -0.3068367 0.9633811337
0.084946269 -0.62745951 0.8851005416
0.267629538 -1.01237396 0.7628784995
0.575946269 -1.4870763 0.5217381581
0.993064769 -1.9922216 0.0579677282
1.473 -2.37720017 -0.6816511809

elevacion
0 1.473 -2.37720017 -0.6816511809
0.208333333 1.68133333 -2.45894375 -1.0691791701
0.416666667 1.88966667 -2.47692778 -1.4882883571
0.625 2.098 -2.42452007 -1.9285503443
0.833333333 2.30633333 -2.29677213 -2.3783771599
1.041666667 2.51466667 -2.09060382 -2.8252889128
1.25 2.723 -1.80494622 -3.2562091697

elevacion
0 2.723 -1.80494622 -3.2562091697
0.071692875 2.79469288 -1.68656181 -3.3992945262
0.1385 2.8615 -1.55685119 -3.5337510679
0.195868578 2.91886858 -1.41492701 -3.654519461
 0.239889037 2.96288904 -1.2609408 -3.7569293074
0.267561454 2.99056145 -1.0960418 -3.8370917491
0.277 3 -0.92223704 -3.8922331425

elevacion
3 3 -0.92223704 -3.8922331425
2.611538106 2.61153811 0.24301945 -3.603352472
1.6875 1.6875 0.96515709 -2.5082121204
0.75 0.75 1.08305458 -1.3745882192
0.1875 0.1875 0.97774897 -0.6739163212
0.013461894 0.01346189 0.9671479 -0.3028695217
0 0 0.99999391 -0.0034906514

elevacion
0 0 0.99999391 -0.0034906514
0 0 0.96682339 0.2554457579
0 0 0.86776545 0.496973961
0 0 0.70957074 0.70463421
0 0 0.50301995 0.864274802
0 0 0.26218918 0.9650164945
0 0 0 1
rx ry rz
0 1 0
-0.3068367 0.96338113 0
-0.62745951 0.88510054 0
-1.01237396 0.7628785 0
-1.4870763 0.52173816 0

-1.9922216 0.05796773 0
-2.37720017 -0.68165118 0
-2.45894375 -1.06917917 0
-2.47692778 -1.48828836 0
-2.42452007 -1.92855034 0
-2.29677213 -2.37837716 0
-2.09060382 -2.82528891 0
-1.80494622 -3.25620917 0
 -1.68656181 -3.39929453 0
-1.55685119 -3.53375107 0
-1.41492701 -3.65451946 0
-1.2609408 -3.75692931 0
-1.0960418 -3.83709175 0

-0.92223704 -3.89223314 0
0.24301945 -3.60335247 0
0.96515709 -2.50821212 0
1.08305458 -1.37458822 0
0.97774897 -0.67391632 0
0.9671479 -0.30286952 0
0.99999391 -0.00349065 0
0.96682339 0.25544576 0
0.86776545 0.49697396 0
0.70957074 0.70463421 0
0.50301995 0.8642748 0
0.26218918 0.96501649 0
0 1 0

perfil de la leva
2

0
-3 -2.5 -2 -1.5 -1 -0.5 0 0.5 1 1.5
-1

-2

-3

-4

-5
X Y Z
0 25 0
-2.17889357 24.9048675 0
-4.34120444 24.6201938 0
-6.47047613 24.1481457 0
-8.55050358 23.4923155 0
-10.5654565 22.6576947 0
-12.5 21.6506351 0
-16.3477066 19.482438 0
-21.3975492 17.9546756 0
-28.1458256 16.25 0
-34.8320406 12.677826 0
-38.9663644 6.87082138 0
-40 0 0
-39.3923101 -6.94592711 0
-37.5877048 -13.6808057 0
-34.6410162 -20 0
-30.6417777 -25.7115044 0
-25.7115044 -30.6417777 0
-20 -34.6410162 0
-13.8287351 -37.9941375 0
-7.45515328 -42.2802752 0
0 -47.5 0
9.0414236 -51.2764613 0 Y
18.6631785 -51.2766614 0 40
27.5 -47.6313972 0
30
35.3533185 -42.1324444 0
20
42.1324444 -35.3533185 0
47.6313972 -27.5 0 10
51.6830941 -18.8111079 0 0
-60 -40 -20 0 20
54.1644264 -9.55064977 0
-10
55 0 0
-20
52.2903625 14.0111604 0
42.5521294 24.5674834 0 -30
28.2842712 28.2842712 0 -40
15.4325166 26.7299029 0
-50
6.69436322 24.9837036 0
0 25 0 -60
 Y
40

30

20

10

0
-20 0 20 40 60 80
-10

-20

-30

-40

-50

-60
x y z
0.0000 5.0000 0.0000
-1.5127 4.7773 0.0000
-2.9267 4.1581 0.0000
-4.1904 3.1911 0.0000
-5.2478 1.8811 0.0000
-5.9868 0.2248 0.0000
-6.2371 -1.7203 0.0000
-6.1511 -2.6008 0.0000
-5.9386 -3.4870 0.0000
-5.5970 -4.3603 0.0000
-5.1262 -5.2020 0.0000
-4.5290 -5.9928 0.0000
-3.8109 -6.7138 0.0000
-3.5256 -6.9493 0.0000
-3.2245 -7.1681 0.0000
-2.9071 -7.3650 0.0000
-2.5739 -7.5350 0.0000
-2.2266 -7.6740 0.0000
-1.8676 -7.7790 0.0000
0.5148 -7.7820 0.0000
2.6064 -6.7653 0.0000
4.0335 -5.0972 0.0000
4.7467 -3.2452 0.0000
4.9717 -1.5271 0.0000
5.0000 0.0183 0.0000
0.9668 0.2554 0.0000
0.8678 0.4970 0.0000
0.7096 0.7046 0.0000
0.5030 0.8643 0.0000
0.2622 0.9650 0.0000
rx ry
0.0000 5.0000 0.0000
-1.5127 4.7773 0.0000
-2.9267 4.1581 0.0000
-4.1904 3.1911 0.0000
-5.2478 1.8811 0.0000
-5.9868 0.2248 0.0000
-6.2371 -1.7203 0.0000
-6.1511 -2.6008 0.0000
-5.9386 -3.4870 0.0000
-5.5970 -4.3603 0.0000
-5.1262 -5.2020 0.0000
-4.5290 -5.9928 0.0000
-3.8109 -6.7138 0.0000
-3.5256 -6.9493 0.0000 ry
-3.2245 -7.1681 0.0000
6.0
-2.9071 -7.3650 0.0000
-2.5739 -7.5350 0.0000 4.0
-2.2266 -7.6740 0.0000
2.0
-1.8676 -7.7790 0.0000
0.5148 -7.7820 0.0000 0.0
-8.0000 -6.0000 -4.0000 -2.0000
2.6064 -6.7653 0.0000 -2.0
4.0335 -5.0972 0.0000
4.7467 -3.2452 0.0000 -4.0
4.9717 -1.5271 0.0000 -6.0
5.0000 0.0183 0.0000
4.8250 1.3111 0.0000 -8.0

4.3217 2.5146 0.0000 -10.0

3.5241 3.5469 0.0000
2.4866 4.3378 0.0000
1.2799 4.8334 0.0000
-0.0140 5.0000 0.0000
0.0000 5.0000 0.0000
 ry
6.0000

4.0000

2.0000

0.0000
6.0000 -4.0000 -2.0000 0.0000 2.0000 4.0000 6.0000
-2.0000

-4.0000

-6.0000

-8.0000

-10.0000
rx ry
-1.31118523 4.83485591
-2.56298142 4.37782759
-3.73133399 3.66421229
-4.79103349 2.68933566
-5.67501727 1.42897622
-6.26296812 -0.11369428 ry
-6.4005709 -0.96114045
6
-6.42058184 -1.84592416
-6.31570756 -2.7513922
4
-6.08104862 -3.65964316
-5.71429791 -4.55187487
2
-5.21588824 -5.40876195
4.82504434 1.31108625 0
4.32166663 2.5145969 -8 -6 -4 -2
3.52409975 3.5469312 -2
2.48663656 4.33781496
1.27990035 4.8334103 -4
-0.01396262 4.9999805
0 5 -6
 ry
6

0
-6 -4 -2 0 2 4 6

-2

-4

-6
tramo 1 elevacion 0
beta 1 45
numero de divisiones 6
teta 7.5
teta (radianes) teta teta/ beta
0 0 0
0.130899693899575 7.5 0.16666667
0.261799387799149 15 0.33333333
0.392699081698724 22.5 0.5
0.523598775598299 30 0.66666667
0.654498469497874 37.5 0.83333333
0.785398163397448 45 1
elevacion anterior 0
tramo 2 elevacion 20
beta 1 45
numero de divisiones 6
teta 7.5
teta (radianes) teta teta/ beta
0 0 0
0.130899693899575 7.5 0.16666667
0.261799387799149 15 0.33333333
0.392699081698724 22.5 0.5
0.523598775598299 30 0.66666667
0.654498469497874 37.5 0.83333333
0.785398163397448 45 1

elevacion anterior 20
tramo 3 elevacion 0
beta 1 60
numero de divisiones 6
teta 10
teta (radianes) teta teta/ beta
0 0 0
0.10471975511966 6 0.16666667
0.20943951023932 12 0.33333333
0.314159265358979 18 0.5
0.418879020478639 24 0.66666667
0.523598775598299 30 0.83333333
0.628318530717959 36 1
20
tramo 4 elevacion 20
 beta 1 90
numero de divisiones 6
teta 15
teta (radianes) teta teta/ beta
0 0 0
0.261799387799149 15 0.16666667
0.523598775598299 30 0.33333333
0.785398163397448 45 0.5
1.0471975511966 60 0.66666667
1.30899693899575 75 0.83333333
1.5707963267949 90 1

tramo 5 elevacion 40
beta 1 90
numero de divisiones 6
teta 15
teta (radianes) teta teta/ beta
0 0 0
0.261799387799149 15 0.16666667
0.523598775598299 30 0.33333333
0.785398163397448 45 0.5
1.0471975511966 60 0.66666667
1.30899693899575 75 0.83333333
1.5707963267949 90 1
elevacion
0
0
0
0
0
0
0

elevacion
0
0.57668886
3.91002219
10
16.0899778
19.4233111
20

elevacion
20
20
20
20
20
20
20
elevacion
20
20.5766889
23.9100222
30
36.0899778
39.4233111
40

elevacion
40
38.8466223
32.1799556
20
7.82004438
1.15337771
0