4_bar_analysis.

xls
To study 4-bar linkage coupler curve motion
By Alex Slocum, last modified 11/04/04 by Xue'en Yang
Enter numbers in BOLD, Results in RED
Schematics
t Fy
 B Fx t
rr x, y
s 7 
VL 6
c rr
e s 7
b VL
C
3 ic u
1 b C c 
d 2 3
a
Rb d Y
D A 2
4 Ric  a
5 D 4 Ric
b' d b'
Rd d'
5
d'

ic

Design Parameters Values

rr (mm) 50
s (mm) 10
Fx (N) 10
Fy (N) 10
dpin (mm) 4
a 100
b 150
cc 120
Added the condition for d d 130 dmin 130 dmax
mu 0.3
Linkage motions Start
omega (degrees) 0 90 180 270
x 100.00 -50.98 -160.00 50.98
y 10.00 150.98 -50.00 -150.98
dx -9.03E-07 -1.50E-04 -5.00E-05 1.52E-04
dy 1.45E-04 -8.88E-06 -1.40E-04 9.31E-05
Static Motor Torque (+CCW) (N-mm)
To overcome pin friction 8.5 8.5 8.5 8.5
To overcome load 1446 -1591 -1900 2449
Total motor torque 1454 -1582 -1892 2457
Velocities
Motor speed wb (rpm, rad/s) 20 2.09
Link-c wc = wic (rad/s) 2.09 0.36 6.28 -0.56
Link-d wd (rad/sec) 2.09 2.38 6.28 -3.65
VL at load point x, y (mm/s) 210 315 491 -315
Vx at load point x, y (mm/s) -1.89 -314.52 -104.74 317.91
Vy at load point x, y (mm/s) 304.71 -18.60 -293.21 194.95
Equations

1  e  a  b 
2 2 2
1    e  a  b  2ab cos  c o s
2 2
1 2  
 2ea 
1  d  e  c 
2 2 2
 6  1 2 3  c o s   4 3 2
 2de 
1  c  e  d 
2 2 2
5  4   7  cos  t  r  s
2 2

2ce 
 
1  r  t  s 
2 2 2

R b  t  2 R b t c o s  6   7   
2
 8  cos   R ic  2
8
 2 rt 
a s in  a s in  4
d ' b' Rd  d  d ' Rb  b  b'
s in  5 s in  5
b b R d ic
 ic  d  V L  R i c ic
Rb d
1  s 
t  r 2  s2  8  sin  
t
u  t 2  b 2  2tb cos  8   7   6 
2 2 2
1  b  u  t 
9  cos  
 2bu 
x  u cos     9  y  u sin     9 
F xdx  F ydy
 roc ker_ torque    F 2x  F 2y d pin 2
d
ang

Fy
Fx t
 B
rr
s 7
6
u b
c 
3
Y 
2
a
D Ric A b X
4 b'
5
d'

ic

170 Note: Enter a value of d between dmin and dmax

Finish
360
100.00
10.00
-9.03E-07
1.45E-04

8.5
1446
1454

2.08 1.75
0.48
211
-1.89
304.71
omegainc 0.0628318531
domega 1.00E-06
Increment Omega degrees x y dx dy alpha1 e
1 0.000 0.00 100.000 10.000 -9.03E-07 1.45E-04 3.142 250.000
2 0.063 3.60 99.648 19.135 -1.03E-05 1.45E-04 3.079 249.882
3 0.126 7.20 98.707 28.233 -1.97E-05 1.44E-04 3.016 249.526
4 0.188 10.80 97.180 37.254 -2.89E-05 1.43E-04 2.953 248.935
5 0.251 14.40 95.073 46.163 -3.81E-05 1.41E-04 2.890 248.108
6 0.314 18.00 92.394 54.922 -4.71E-05 1.38E-04 2.827 247.046
7 0.377 21.60 89.152 63.495 -5.60E-05 1.35E-04 2.765 245.750
8 0.440 25.20 85.362 71.847 -6.46E-05 1.31E-04 2.702 244.223
9 0.503 28.80 81.037 79.942 -7.30E-05 1.27E-04 2.639 242.465
10 0.565 32.40 76.195 87.746 -8.11E-05 1.22E-04 2.576 240.478
11 0.628 36.00 70.854 95.228 -8.89E-05 1.16E-04 2.513 238.266
12 0.691 39.60 65.035 102.356 -9.63E-05 1.10E-04 2.450 235.829
13 0.754 43.20 58.760 109.099 -1.03E-04 1.04E-04 2.388 233.172
14 0.817 46.80 52.056 115.428 -1.10E-04 9.73E-05 2.325 230.296
15 0.880 50.40 44.948 121.317 -1.16E-04 9.01E-05 2.262 227.206
16 0.942 54.00 37.463 126.740 -1.22E-04 8.25E-05 2.199 223.905
17 1.005 57.60 29.632 131.672 -1.27E-04 7.45E-05 2.136 220.397
18 1.068 61.20 21.485 136.093 -1.32E-04 6.62E-05 2.073 216.686
19 1.131 64.80 13.055 139.980 -1.36E-04 5.75E-05 2.011 212.775
20 1.194 68.40 4.374 143.317 -1.40E-04 4.86E-05 1.948 208.671
21 1.257 72.00 -4.522 146.086 -1.43E-04 3.95E-05 1.885 204.378
22 1.319 75.60 -13.599 148.273 -1.46E-04 3.01E-05 1.822 199.902
23 1.382 79.20 -22.821 149.865 -1.48E-04 2.06E-05 1.759 195.247
24 1.445 82.80 -32.150 150.853 -1.49E-04 1.09E-05 1.696 190.421
25 1.508 86.40 -41.549 151.227 -1.50E-04 1.03E-06 1.634 185.428
26 1.571 90.00 -50.981 150.981 -1.50E-04 -8.88E-06 1.571 180.278
27 1.634 93.60 -60.407 150.110 -1.50E-04 -1.89E-05 1.508 174.975
28 1.696 97.20 -69.790 148.611 -1.49E-04 -2.89E-05 1.445 169.529
29 1.759 100.80 -79.090 146.483 -1.47E-04 -3.89E-05 1.382 163.947
30 1.822 104.40 -88.270 143.727 -1.45E-04 -4.89E-05 1.319 158.238
31 1.885 108.00 -97.290 140.344 -1.42E-04 -5.88E-05 1.257 152.412
32 1.948 111.60 -106.113 136.337 -1.39E-04 -6.87E-05 1.194 146.480
33 2.011 115.20 -114.699 131.709 -1.35E-04 -7.86E-05 1.131 140.451
34 2.073 118.80 -123.009 126.466 -1.30E-04 -8.83E-05 1.068 134.341
35 2.136 122.40 -131.006 120.612 -1.25E-04 -9.80E-05 1.005 128.161
36 2.199 126.00 -138.647 114.150 -1.19E-04 -1.08E-04 0.942 121.928
37 2.262 129.60 -145.892 107.085 -1.12E-04 -1.17E-04 0.880 115.660
38 2.325 133.20 -152.697 99.418 -1.05E-04 -1.27E-04 0.817 109.378
39 2.388 136.80 -159.014 91.148 -9.64E-05 -1.36E-04 0.754 103.106
40 2.450 140.40 -164.791 82.272 -8.73E-05 -1.46E-04 0.691 96.874
41 2.513 144.00 -169.966 72.783 -7.72E-05 -1.56E-04 0.628 90.717
42 2.576 147.60 -174.466 62.668 -6.58E-05 -1.66E-04 0.565 84.677
43 2.639 151.20 -178.200 51.913 -5.27E-05 -1.76E-04 0.503 78.809
44 2.702 154.80 -181.048 40.507 -3.76E-05 -1.87E-04 0.440 73.179
45 2.765 158.40 -182.861 28.443 -1.96E-05 -1.97E-04 0.377 67.873
46 2.827 162.00 -183.442 15.746 1.79E-06 -2.07E-04 0.314 62.994
47 2.890 165.60 -182.549 2.496 2.73E-05 -2.14E-04 0.251 58.673
48 2.953 169.20 -179.916 -11.123 5.72E-05 -2.18E-04 0.188 55.058
49 3.016 172.80 -175.302 -24.773 9.00E-05 -2.15E-04 0.126 52.312
50 3.079 176.40 -168.607 -37.938 1.23E-04 -2.02E-04 0.063 50.589
51 3.142 180.00 -160.000 -50.000 -5.00E-05 -1.40E-04 0.000 50.000
52 3.204 183.60 -162.523 -58.771 -2.95E-05 -1.40E-04 -0.063 50.589
53 3.267 187.20 -163.634 -67.590 -5.46E-06 -1.41E-04 -0.126 52.312
54 3.330 190.80 -163.187 -76.573 1.97E-05 -1.45E-04 -0.188 55.058
55 3.393 194.40 -161.172 -85.756 4.42E-05 -1.48E-04 -0.251 58.673
56 3.456 198.00 -157.663 -95.085 6.72E-05 -1.49E-04 -0.314 62.994
57 3.519 201.60 -152.771 -104.443 8.82E-05 -1.48E-04 -0.377 67.873
58 3.581 205.20 -146.616 -113.680 1.07E-04 -1.45E-04 -0.440 73.179
59 3.644 208.80 -139.316 -122.642 1.25E-04 -1.40E-04 -0.503 78.809
60 3.707 212.40 -130.988 -131.179 1.40E-04 -1.32E-04 -0.565 84.677
61 3.770 216.00 -121.743 -139.156 1.54E-04 -1.22E-04 -0.628 90.717
62 3.833 219.60 -111.694 -146.456 1.66E-04 -1.10E-04 -0.691 96.874
63 3.896 223.20 -100.953 -152.977 1.76E-04 -9.71E-05 -0.754 103.106
64 3.958 226.80 -89.634 -158.638 1.84E-04 -8.29E-05 -0.817 109.378
65 4.021 230.40 -77.851 -163.373 1.91E-04 -6.77E-05 -0.880 115.660
66 4.084 234.00 -65.719 -167.135 1.95E-04 -5.19E-05 -0.942 121.928
67 4.147 237.60 -53.353 -169.891 1.98E-04 -3.57E-05 -1.005 128.161
68 4.210 241.20 -40.867 -171.624 1.99E-04 -1.94E-05 -1.068 134.341
69 4.273 244.80 -28.372 -172.332 1.98E-04 -3.14E-06 -1.131 140.451
70 4.335 248.40 -15.976 -172.024 1.96E-04 1.29E-05 -1.194 146.480
71 4.398 252.00 -3.783 -170.726 1.92E-04 2.84E-05 -1.257 152.412
72 4.461 255.60 8.110 -168.473 1.86E-04 4.32E-05 -1.319 158.238
73 4.524 259.20 19.612 -165.312 1.79E-04 5.73E-05 -1.382 163.947
74 4.587 262.80 30.639 -161.298 1.71E-04 7.03E-05 -1.445 169.529
75 4.650 266.40 41.117 -156.497 1.62E-04 8.23E-05 -1.508 174.975
76 4.712 270.00 50.981 -150.981 1.52E-04 9.31E-05 -1.571 180.278
77 4.775 273.60 60.175 -144.827 1.41E-04 1.03E-04 -1.634 185.428
78 4.838 277.20 68.655 -138.118 1.29E-04 1.11E-04 -1.696 190.421
79 4.901 280.80 76.387 -130.940 1.17E-04 1.18E-04 -1.759 195.247
80 4.964 284.40 83.348 -123.381 1.05E-04 1.23E-04 -1.822 199.902
81 5.027 288.00 89.526 -115.528 9.21E-05 1.27E-04 -1.885 204.378
82 5.089 291.60 94.918 -107.468 7.96E-05 1.29E-04 -1.948 208.671
83 5.152 295.20 99.535 -99.285 6.74E-05 1.31E-04 -2.011 212.775
84 5.215 298.80 103.395 -91.062 5.55E-05 1.31E-04 -2.073 216.686
85 5.278 302.40 106.524 -82.875 4.42E-05 1.30E-04 -2.136 220.397
86 5.341 306.00 108.960 -74.794 3.35E-05 1.27E-04 -2.199 223.905
87 5.404 309.60 110.746 -66.884 2.35E-05 1.24E-04 -2.262 227.206
88 5.466 313.20 111.932 -59.201 1.44E-05 1.20E-04 -2.325 230.296
89 5.529 316.80 112.573 -51.794 6.18E-06 1.15E-04 -2.388 233.172
90 5.592 320.40 112.729 -44.703 -1.05E-06 1.10E-04 -2.450 235.829
91 5.655 324.00 112.463 -37.959 -7.27E-06 1.04E-04 -2.513 238.266
92 5.718 327.60 111.838 -31.582 -1.25E-05 9.85E-05 -2.576 240.478
93 5.781 331.20 110.919 -25.587 -1.66E-05 9.24E-05 -2.639 242.465
94 5.843 334.80 109.771 -19.976 -1.98E-05 8.63E-05 -2.702 244.223
95 5.906 338.40 108.455 -14.743 -2.20E-05 8.03E-05 -2.765 245.750
96 5.969 342.00 107.030 -9.875 -2.32E-05 7.47E-05 -2.827 247.046
97 6.032 345.60 105.552 -5.349 -2.37E-05 6.95E-05 -2.890 248.108
98 6.095 349.20 104.070 -1.136 -2.34E-05 6.47E-05 -2.953 248.935
99 6.158 352.80 102.627 2.798 -2.24E-05 6.06E-05 -3.016 249.526
100 6.220 356.40 101.261 6.495 -2.10E-05 5.72E-05 -3.079 249.882
101 6.283 360.00 100.000 10.000 -9.03E-07 1.45E-04 -3.142 250.000
alpha2 alpha3 alpha4 alpha5 alpha6 alpha7 dprime bprime Rb
0.000 0.000 3.142 1.00E-06 0.000 0.000 0.00E+00 1.22E-08 1.50E+02
0.038 0.030 3.074 4.44E-03 0.025 0.032 1.41E+03 1.51E+03 1.66E+03
0.075 0.059 3.007 8.89E-03 0.050 0.064 1.41E+03 1.51E+03 1.66E+03
0.113 0.089 2.940 1.34E-02 0.075 0.096 1.40E+03 1.50E+03 1.65E+03
0.151 0.118 2.872 1.79E-02 0.100 0.128 1.39E+03 1.49E+03 1.64E+03
0.189 0.148 2.805 2.24E-02 0.125 0.160 1.38E+03 1.48E+03 1.63E+03
0.227 0.177 2.738 2.70E-02 0.150 0.192 1.37E+03 1.46E+03 1.61E+03
0.265 0.207 2.670 3.16E-02 0.175 0.224 1.35E+03 1.44E+03 1.59E+03
0.303 0.236 2.603 3.63E-02 0.200 0.256 1.33E+03 1.42E+03 1.57E+03
0.341 0.266 2.535 4.10E-02 0.225 0.288 1.31E+03 1.39E+03 1.54E+03
0.379 0.295 2.467 4.59E-02 0.249 0.321 1.28E+03 1.36E+03 1.51E+03
0.417 0.325 2.400 5.08E-02 0.274 0.353 1.26E+03 1.33E+03 1.48E+03
0.456 0.354 2.332 5.59E-02 0.298 0.385 1.23E+03 1.30E+03 1.45E+03
0.495 0.383 2.264 6.10E-02 0.322 0.417 1.20E+03 1.26E+03 1.41E+03
0.534 0.412 2.196 6.63E-02 0.346 0.449 1.16E+03 1.22E+03 1.37E+03
0.573 0.441 2.127 7.18E-02 0.370 0.481 1.13E+03 1.18E+03 1.33E+03
0.612 0.471 2.059 7.74E-02 0.393 0.513 1.09E+03 1.14E+03 1.29E+03
0.652 0.500 1.990 8.32E-02 0.416 0.546 1.05E+03 1.10E+03 1.25E+03
0.692 0.529 1.921 8.93E-02 0.439 0.578 1.01E+03 1.05E+03 1.20E+03
0.732 0.557 1.852 9.55E-02 0.462 0.610 9.75E+02 1.01E+03 1.16E+03
0.773 0.586 1.783 1.02E-01 0.484 0.642 9.34E+02 9.60E+02 1.11E+03
0.814 0.615 1.713 1.09E-01 0.506 0.675 8.91E+02 9.11E+02 1.06E+03
0.855 0.643 1.643 1.16E-01 0.527 0.707 8.49E+02 8.62E+02 1.01E+03
0.897 0.672 1.573 1.23E-01 0.548 0.740 8.06E+02 8.12E+02 9.62E+02
0.940 0.700 1.502 1.31E-01 0.568 0.772 7.62E+02 7.62E+02 9.12E+02
0.983 0.728 1.431 1.40E-01 0.588 0.805 7.18E+02 7.11E+02 8.61E+02
1.027 0.755 1.359 1.49E-01 0.607 0.837 6.74E+02 6.61E+02 8.11E+02
1.071 0.783 1.287 1.58E-01 0.625 0.870 6.31E+02 6.10E+02 7.60E+02
1.117 0.810 1.214 1.68E-01 0.642 0.903 5.88E+02 5.61E+02 7.11E+02
1.163 0.837 1.141 1.79E-01 0.659 0.935 5.45E+02 5.11E+02 6.61E+02
1.211 0.864 1.066 1.90E-01 0.674 0.968 5.03E+02 4.63E+02 6.13E+02
1.260 0.890 0.991 2.03E-01 0.688 1.001 4.62E+02 4.15E+02 5.65E+02
1.311 0.916 0.915 2.16E-01 0.700 1.034 4.21E+02 3.69E+02 5.19E+02
1.363 0.942 0.837 2.31E-01 0.711 1.068 3.82E+02 3.24E+02 4.74E+02
1.417 0.967 0.758 2.48E-01 0.719 1.101 3.45E+02 2.80E+02 4.30E+02
1.474 0.991 0.677 2.66E-01 0.726 1.134 3.08E+02 2.39E+02 3.89E+02
1.533 1.015 0.594 2.85E-01 0.729 1.168 2.74E+02 1.99E+02 3.49E+02
1.595 1.037 0.509 3.08E-01 0.729 1.202 2.41E+02 1.61E+02 3.11E+02
1.662 1.059 0.421 3.33E-01 0.726 1.236 2.10E+02 1.25E+02 2.75E+02
1.732 1.079 0.330 3.61E-01 0.718 1.270 1.80E+02 9.16E+01 2.42E+02
1.808 1.099 0.235 3.94E-01 0.705 1.305 1.53E+02 6.06E+01 2.11E+02
1.891 1.116 0.135 4.31E-01 0.685 1.339 1.28E+02 3.21E+01 1.82E+02
1.981 1.132 0.029 4.74E-01 0.658 1.373 1.06E+02 6.28E+00 1.56E+02
2.081 1.145 -0.084 5.24E-01 0.621 1.408 8.51E+01 -1.68E+01 1.33E+02
2.191 1.156 -0.206 5.83E-01 0.573 1.441 6.69E+01 -3.72E+01 1.13E+02
2.315 1.165 -0.338 6.52E-01 0.513 1.474 5.09E+01 -5.46E+01 9.54E+01
2.453 1.171 -0.482 7.33E-01 0.438 1.504 3.72E+01 -6.92E+01 8.08E+01
2.606 1.174 -0.638 8.27E-01 0.347 1.531 2.55E+01 -8.10E+01 6.90E+01
2.774 1.176 -0.808 9.34E-01 0.242 1.552 1.56E+01 -8.99E+01 6.01E+01
2.954 1.176 -0.989 1.05E+00 0.124 1.566 7.23E+00 -9.62E+01 5.38E+01
3.142 1.176 -1.176 1.18E+00 0.000 1.571 -2.75E-13 -1.00E+02 5.00E+01
2.954 1.176 -0.989 9.26E-01 0.124 1.566 -7.86E+00 -1.05E+02 4.55E+01
2.774 1.176 -0.808 6.82E-01 0.242 1.552 -1.99E+01 -1.15E+02 3.54E+01
2.606 1.174 -0.638 4.50E-01 0.347 1.531 -4.31E+01 -1.37E+02 1.30E+01
2.453 1.171 -0.482 2.30E-01 0.438 1.504 -1.09E+02 -2.03E+02 -5.29E+01
2.315 1.165 -0.338 2.38E-02 0.513 1.474 -1.30E+03 -1.39E+03 -1.24E+03
2.191 1.156 -0.206 -1.71E-01 0.573 1.441 2.16E+02 1.20E+02 2.70E+02
2.081 1.145 -0.084 -3.55E-01 0.621 1.408 1.22E+02 2.42E+01 1.74E+02
1.981 1.132 0.029 -5.31E-01 0.658 1.373 9.51E+01 -5.65E+00 1.44E+02
1.891 1.116 0.135 -7.00E-01 0.685 1.339 8.32E+01 -2.08E+01 1.29E+02
1.808 1.099 0.235 -8.63E-01 0.705 1.305 7.74E+01 -3.06E+01 1.19E+02
1.732 1.079 0.330 -1.02E+00 0.718 1.270 7.48E+01 -3.80E+01 1.12E+02
1.662 1.059 0.421 -1.18E+00 0.726 1.236 7.42E+01 -4.43E+01 1.06E+02
1.595 1.037 0.509 -1.33E+00 0.729 1.202 7.51E+01 -5.02E+01 9.98E+01
1.533 1.015 0.594 -1.47E+00 0.729 1.168 7.74E+01 -5.62E+01 9.38E+01
1.474 0.991 0.677 -1.62E+00 0.726 1.134 8.10E+01 -6.27E+01 8.73E+01
1.417 0.967 0.758 -1.76E+00 0.719 1.101 8.60E+01 -7.00E+01 8.00E+01
1.363 0.942 0.837 -1.91E+00 0.711 1.068 9.28E+01 -7.86E+01 7.14E+01
1.311 0.916 0.915 -2.05E+00 0.700 1.034 1.02E+02 -8.91E+01 6.09E+01
1.260 0.890 0.991 -2.18E+00 0.688 1.001 1.14E+02 -1.02E+02 4.76E+01
1.211 0.864 1.066 -2.32E+00 0.674 0.968 1.30E+02 -1.20E+02 3.01E+01
1.163 0.837 1.141 -2.46E+00 0.659 0.935 1.54E+02 -1.44E+02 5.69E+00
1.117 0.810 1.214 -2.60E+00 0.642 0.903 1.89E+02 -1.81E+02 -3.08E+01
1.071 0.783 1.287 -2.73E+00 0.625 0.870 2.49E+02 -2.41E+02 -9.13E+01
1.027 0.755 1.359 -2.87E+00 0.607 0.837 3.69E+02 -3.61E+02 -2.11E+02
0.983 0.728 1.431 -3.00E+00 0.588 0.805 7.18E+02 -7.11E+02 -5.61E+02
0.940 0.700 1.502 -3.14E+00 0.568 0.772 1.75E+04 -1.75E+04 -1.74E+04
0.897 0.672 1.573 -3.27E+00 0.548 0.740 -7.78E+02 7.84E+02 9.34E+02
0.855 0.643 1.643 -3.40E+00 0.527 0.707 -3.81E+02 3.87E+02 5.37E+02
0.814 0.615 1.713 -3.54E+00 0.506 0.675 -2.52E+02 2.58E+02 4.08E+02
0.773 0.586 1.783 -3.67E+00 0.484 0.642 -1.89E+02 1.95E+02 3.45E+02
0.732 0.557 1.852 -3.80E+00 0.462 0.610 -1.52E+02 1.57E+02 3.07E+02
0.692 0.529 1.921 -3.93E+00 0.439 0.578 -1.27E+02 1.32E+02 2.82E+02
0.652 0.500 1.990 -4.06E+00 0.416 0.546 -1.10E+02 1.15E+02 2.65E+02
0.612 0.471 2.059 -4.20E+00 0.393 0.513 -9.71E+01 1.02E+02 2.52E+02
0.573 0.441 2.127 -4.33E+00 0.370 0.481 -8.73E+01 9.17E+01 2.42E+02
0.534 0.412 2.196 -4.46E+00 0.346 0.449 -7.96E+01 8.38E+01 2.34E+02
0.495 0.383 2.264 -4.59E+00 0.322 0.417 -7.35E+01 7.75E+01 2.28E+02
0.456 0.354 2.332 -4.72E+00 0.298 0.385 -6.85E+01 7.24E+01 2.22E+02
0.417 0.325 2.400 -4.85E+00 0.274 0.353 -6.44E+01 6.82E+01 2.18E+02
0.379 0.295 2.467 -4.98E+00 0.249 0.321 -6.10E+01 6.47E+01 2.15E+02
0.341 0.266 2.535 -5.11E+00 0.225 0.288 -5.81E+01 6.19E+01 2.12E+02
0.303 0.236 2.603 -5.24E+00 0.200 0.256 -5.58E+01 5.95E+01 2.09E+02
0.265 0.207 2.670 -5.37E+00 0.175 0.224 -5.39E+01 5.75E+01 2.07E+02
0.227 0.177 2.738 -5.50E+00 0.150 0.192 -5.23E+01 5.58E+01 2.06E+02
0.189 0.148 2.805 -5.63E+00 0.125 0.160 -5.10E+01 5.45E+01 2.05E+02
0.151 0.118 2.872 -5.76E+00 0.100 0.128 -5.00E+01 5.35E+01 2.03E+02
0.113 0.089 2.940 -5.89E+00 0.075 0.096 -4.92E+01 5.27E+01 2.03E+02
0.075 0.059 3.007 -6.02E+00 0.050 0.064 -4.87E+01 5.21E+01 2.02E+02
0.038 0.030 3.074 -6.15E+00 0.025 0.032 -4.84E+01 5.18E+01 2.02E+02
0.000 0.000 3.142 -6.28E+00 0.000 0.000 -1.00E+02 1.34E+00 1.51E+02
Rd Ric t alpha8 u alpha9 domega x y
1.30E+02 1.00E+02 50.990 0.197 100.499 0.100 0.000 100.000 10.000
1.54E+03 1.61E+03 50.990 0.197 101.469 0.127 0.063 99.648 19.135
1.54E+03 1.61E+03 50.990 0.197 102.665 0.153 0.126 98.707 28.233
1.53E+03 1.60E+03 50.990 0.197 104.076 0.178 0.188 97.180 37.254
1.52E+03 1.59E+03 50.990 0.197 105.688 0.201 0.251 95.073 46.163
1.51E+03 1.58E+03 50.990 0.197 107.485 0.222 0.314 92.393 54.922
1.50E+03 1.56E+03 50.990 0.197 109.452 0.242 0.377 89.152 63.495
1.48E+03 1.55E+03 50.990 0.197 111.573 0.260 0.440 85.362 71.847
1.46E+03 1.53E+03 50.990 0.197 113.832 0.276 0.503 81.037 79.942
1.44E+03 1.50E+03 50.990 0.197 116.211 0.290 0.565 76.195 87.747
1.41E+03 1.48E+03 50.990 0.197 118.696 0.303 0.628 70.853 95.229
1.39E+03 1.45E+03 50.990 0.197 121.269 0.314 0.691 65.034 102.356
1.36E+03 1.42E+03 50.990 0.197 123.917 0.323 0.754 58.760 109.099
1.33E+03 1.38E+03 50.990 0.197 126.624 0.330 0.817 52.056 115.429
1.29E+03 1.35E+03 50.990 0.197 129.376 0.336 0.880 44.947 121.317
1.26E+03 1.31E+03 50.990 0.197 132.161 0.341 0.942 37.463 126.740
1.22E+03 1.27E+03 50.990 0.197 134.966 0.344 1.005 29.632 131.673
1.18E+03 1.23E+03 50.990 0.197 137.778 0.346 1.068 21.485 136.093
1.14E+03 1.19E+03 50.990 0.197 140.588 0.347 1.131 13.055 139.980
1.10E+03 1.14E+03 50.990 0.197 143.383 0.346 1.194 4.374 143.317
1.06E+03 1.10E+03 50.990 0.197 146.156 0.345 1.257 -4.522 146.086
1.02E+03 1.05E+03 50.990 0.197 148.895 0.343 1.319 -13.599 148.273
9.79E+02 1.01E+03 50.990 0.197 151.593 0.340 1.382 -22.821 149.865
9.36E+02 9.59E+02 50.990 0.197 154.241 0.336 1.445 -32.150 150.853
8.92E+02 9.11E+02 50.990 0.197 156.831 0.331 1.508 -41.549 151.227
8.48E+02 8.64E+02 50.990 0.197 159.356 0.326 1.571 -50.981 150.981
8.04E+02 8.16E+02 50.990 0.197 161.808 0.320 1.634 -60.407 150.110
7.61E+02 7.68E+02 50.990 0.197 164.182 0.313 1.696 -69.790 148.611
7.18E+02 7.21E+02 50.990 0.197 166.471 0.307 1.759 -79.090 146.483
6.75E+02 6.74E+02 50.990 0.197 168.668 0.299 1.822 -88.270 143.727
6.33E+02 6.28E+02 50.990 0.197 170.768 0.292 1.885 -97.290 140.344
5.92E+02 5.83E+02 50.990 0.197 172.764 0.284 1.948 -106.113 136.336
5.51E+02 5.39E+02 50.990 0.197 174.651 0.277 2.011 -114.699 131.709
5.12E+02 4.96E+02 50.990 0.197 176.423 0.269 2.073 -123.010 126.466
4.75E+02 4.55E+02 50.990 0.197 178.072 0.261 2.136 -131.006 120.612
4.38E+02 4.15E+02 50.990 0.197 179.592 0.254 2.199 -138.647 114.150
4.04E+02 3.77E+02 50.990 0.197 180.974 0.246 2.262 -145.892 107.085
3.71E+02 3.41E+02 50.990 0.197 182.209 0.240 2.325 -152.697 99.418
3.40E+02 3.06E+02 50.990 0.197 183.285 0.233 2.388 -159.014 91.148
3.10E+02 2.74E+02 50.990 0.197 184.187 0.228 2.450 -164.791 82.272
2.83E+02 2.44E+02 50.990 0.197 184.894 0.224 2.513 -169.966 72.782
2.58E+02 2.17E+02 50.990 0.197 185.380 0.221 2.576 -174.466 62.667
2.36E+02 1.92E+02 50.990 0.197 185.607 0.219 2.639 -178.200 51.913
2.15E+02 1.69E+02 50.990 0.197 185.524 0.220 2.702 -181.048 40.506
1.97E+02 1.49E+02 50.990 0.197 185.060 0.223 2.765 -182.861 28.443
1.81E+02 1.31E+02 50.990 0.197 184.116 0.229 2.827 -183.442 15.746
1.67E+02 1.16E+02 50.990 0.197 182.566 0.238 2.890 -182.549 2.496
1.55E+02 1.04E+02 50.990 0.197 180.259 0.250 2.953 -179.916 -11.123
1.46E+02 9.33E+01 50.990 0.197 177.044 0.266 3.016 -175.302 -24.773
1.37E+02 8.49E+01 50.990 0.197 172.823 0.284 3.079 -168.607 -37.938
1.30E+02 7.81E+01 50.990 0.197 167.631 0.303 3.142 -160.000 -50.000
1.22E+02 7.82E+01 50.990 0.197 172.823 0.284 3.204 -162.523 -58.771
1.10E+02 7.30E+01 50.990 0.197 177.044 0.266 3.267 -163.634 -67.590
8.69E+01 5.84E+01 50.990 0.197 180.259 0.250 3.330 -163.187 -76.574
2.11E+01 5.00E+01 50.990 0.197 182.566 0.238 3.393 -161.172 -85.757
-1.17E+03 1.22E+03 50.990 0.197 184.116 0.229 3.456 -157.663 -95.085
3.46E+02 3.04E+02 50.990 0.197 185.060 0.223 3.519 -152.771 -104.443
2.52E+02 2.09E+02 50.990 0.197 185.524 0.220 3.581 -146.615 -113.680
2.25E+02 1.80E+02 50.990 0.197 185.607 0.219 3.644 -139.316 -122.642
2.13E+02 1.65E+02 50.990 0.197 185.380 0.221 3.707 -130.987 -131.179
2.07E+02 1.55E+02 50.990 0.197 184.894 0.224 3.770 -121.743 -139.157
2.05E+02 1.47E+02 50.990 0.197 184.187 0.228 3.833 -111.694 -146.456
2.04E+02 1.41E+02 50.990 0.197 183.285 0.233 3.896 -100.953 -152.977
2.05E+02 1.34E+02 50.990 0.197 182.209 0.240 3.958 -89.634 -158.638
2.07E+02 1.27E+02 50.990 0.197 180.974 0.246 4.021 -77.851 -163.373
2.11E+02 1.20E+02 50.990 0.197 179.592 0.254 4.084 -65.719 -167.135
2.16E+02 1.12E+02 50.990 0.197 178.072 0.261 4.147 -53.353 -169.891
2.23E+02 1.03E+02 50.990 0.197 176.423 0.269 4.210 -40.867 -171.624
2.32E+02 9.22E+01 50.990 0.197 174.651 0.277 4.273 -28.372 -172.332
2.44E+02 7.99E+01 50.990 0.197 172.764 0.284 4.335 -15.976 -172.024
2.60E+02 6.57E+01 50.990 0.197 170.768 0.292 4.398 -3.782 -170.726
2.84E+02 5.25E+01 50.990 0.197 168.668 0.299 4.461 8.111 -168.473
3.19E+02 5.49E+01 50.990 0.197 166.471 0.307 4.524 19.612 -165.312
3.79E+02 9.90E+01 50.990 0.197 164.182 0.313 4.587 30.639 -161.298
4.99E+02 2.14E+02 50.990 0.197 161.808 0.320 4.650 41.117 -156.497
8.48E+02 5.63E+02 50.990 0.197 159.356 0.326 4.712 50.981 -150.981
1.77E+04 1.74E+04 50.990 0.197 156.831 0.331 4.775 60.175 -144.827
-6.48E+02 9.31E+02 50.990 0.197 154.241 0.336 4.838 68.655 -138.118
-2.51E+02 5.32E+02 50.990 0.197 151.593 0.340 4.901 76.387 -130.940
-1.22E+02 4.01E+02 50.990 0.197 148.895 0.343 4.964 83.348 -123.381
-5.93E+01 3.36E+02 50.990 0.197 146.156 0.345 5.027 89.526 -115.528
-2.20E+01 2.96E+02 50.990 0.197 143.383 0.346 5.089 94.919 -107.467
2.67E+00 2.69E+02 50.990 0.197 140.588 0.347 5.152 99.535 -99.285
2.00E+01 2.49E+02 50.990 0.197 137.778 0.346 5.215 103.395 -91.062
3.29E+01 2.33E+02 50.990 0.197 134.966 0.344 5.278 106.524 -82.875
4.27E+01 2.21E+02 50.990 0.197 132.161 0.341 5.341 108.960 -74.794
5.04E+01 2.10E+02 50.990 0.197 129.376 0.336 5.404 110.746 -66.884
5.65E+01 2.02E+02 50.990 0.197 126.624 0.330 5.466 111.932 -59.201
6.15E+01 1.94E+02 50.990 0.197 123.917 0.323 5.529 112.573 -51.794
6.56E+01 1.87E+02 50.990 0.197 121.269 0.314 5.592 112.729 -44.703
6.90E+01 1.82E+02 50.990 0.197 118.696 0.303 5.655 112.463 -37.958
7.19E+01 1.76E+02 50.990 0.197 116.211 0.290 5.718 111.838 -31.582
7.42E+01 1.72E+02 50.990 0.197 113.832 0.276 5.781 110.919 -25.587
7.61E+01 1.68E+02 50.990 0.197 111.573 0.260 5.843 109.771 -19.976
7.77E+01 1.64E+02 50.990 0.197 109.452 0.242 5.906 108.455 -14.743
7.90E+01 1.61E+02 50.990 0.197 107.485 0.222 5.969 107.030 -9.875
8.00E+01 1.58E+02 50.990 0.197 105.688 0.201 6.032 105.552 -5.349
8.08E+01 1.56E+02 50.990 0.197 104.076 0.178 6.095 104.070 -1.136
8.13E+01 1.54E+02 50.990 0.197 102.665 0.153 6.158 102.627 2.798
8.16E+01 1.53E+02 50.990 0.197 101.469 0.127 6.220 101.261 6.495
3.00E+01 1.02E+02 50.990 0.197 100.499 0.100 6.283 100.000 10.000
dx dy alpha1 e alpha2 alpha3 alpha4 alpha5 alpha6 alpha7
-1.000E+02 -1.000E+01 3.142 250.000 0.000 0.000 3.142 0.000 0.000 0.000
-9.965E+01 -1.914E+01 3.079 249.882 0.038 0.030 3.074 0.004 0.025 0.032
-9.871E+01 -2.823E+01 3.016 249.526 0.075 0.059 3.007 0.009 0.050 0.064
-9.718E+01 -3.725E+01 2.953 248.935 0.113 0.089 2.940 0.013 0.075 0.096
-9.507E+01 -4.616E+01 2.890 248.108 0.151 0.118 2.872 0.018 0.100 0.128
-9.239E+01 -5.492E+01 2.827 247.046 0.189 0.148 2.805 0.022 0.125 0.160
-8.915E+01 -6.350E+01 2.765 245.750 0.227 0.177 2.738 0.027 0.150 0.192
-8.536E+01 -7.185E+01 2.702 244.223 0.265 0.207 2.670 0.032 0.175 0.224
-8.104E+01 -7.994E+01 2.639 242.465 0.303 0.236 2.603 0.036 0.200 0.256
-7.619E+01 -8.775E+01 2.576 240.478 0.341 0.266 2.535 0.041 0.225 0.288
-7.085E+01 -9.523E+01 2.513 238.266 0.379 0.295 2.467 0.046 0.249 0.321
-6.503E+01 -1.024E+02 2.450 235.829 0.417 0.325 2.400 0.051 0.274 0.353
-5.876E+01 -1.091E+02 2.388 233.172 0.456 0.354 2.332 0.056 0.298 0.385
-5.206E+01 -1.154E+02 2.325 230.296 0.495 0.383 2.264 0.061 0.322 0.417
-4.495E+01 -1.213E+02 2.262 227.206 0.534 0.412 2.196 0.066 0.346 0.449
-3.746E+01 -1.267E+02 2.199 223.905 0.573 0.441 2.127 0.072 0.370 0.481
-2.963E+01 -1.317E+02 2.136 220.397 0.612 0.471 2.059 0.077 0.393 0.513
-2.148E+01 -1.361E+02 2.073 216.685 0.652 0.500 1.990 0.083 0.416 0.546
-1.305E+01 -1.400E+02 2.011 212.775 0.692 0.529 1.921 0.089 0.439 0.578
-4.374E+00 -1.433E+02 1.948 208.671 0.732 0.557 1.852 0.096 0.462 0.610
4.522E+00 -1.461E+02 1.885 204.378 0.773 0.586 1.783 0.102 0.484 0.642
1.360E+01 -1.483E+02 1.822 199.902 0.814 0.615 1.713 0.109 0.506 0.675
2.282E+01 -1.499E+02 1.759 195.247 0.855 0.643 1.643 0.116 0.527 0.707
3.215E+01 -1.509E+02 1.696 190.421 0.897 0.672 1.573 0.123 0.548 0.740
4.155E+01 -1.512E+02 1.634 185.428 0.940 0.700 1.502 0.131 0.568 0.772
5.098E+01 -1.510E+02 1.571 180.277 0.983 0.728 1.431 0.140 0.588 0.805
6.041E+01 -1.501E+02 1.508 174.975 1.027 0.755 1.359 0.149 0.607 0.837
6.979E+01 -1.486E+02 1.445 169.529 1.071 0.783 1.287 0.158 0.625 0.870
7.909E+01 -1.465E+02 1.382 163.947 1.117 0.810 1.214 0.168 0.642 0.903
8.827E+01 -1.437E+02 1.319 158.238 1.163 0.837 1.141 0.179 0.659 0.935
9.729E+01 -1.403E+02 1.257 152.412 1.211 0.864 1.066 0.190 0.674 0.968
1.061E+02 -1.363E+02 1.194 146.479 1.260 0.890 0.991 0.203 0.688 1.001
1.147E+02 -1.317E+02 1.131 140.451 1.311 0.916 0.915 0.216 0.700 1.034
1.230E+02 -1.265E+02 1.068 134.340 1.363 0.942 0.837 0.231 0.711 1.068
1.310E+02 -1.206E+02 1.005 128.161 1.417 0.967 0.758 0.248 0.719 1.101
1.386E+02 -1.142E+02 0.942 121.928 1.474 0.991 0.677 0.266 0.726 1.134
1.459E+02 -1.071E+02 0.880 115.660 1.533 1.015 0.594 0.285 0.729 1.168
1.527E+02 -9.942E+01 0.817 109.378 1.595 1.037 0.509 0.308 0.729 1.202
1.590E+02 -9.115E+01 0.754 103.106 1.662 1.059 0.421 0.333 0.726 1.236
1.648E+02 -8.227E+01 0.691 96.874 1.732 1.079 0.330 0.361 0.718 1.270
1.700E+02 -7.278E+01 0.628 90.716 1.808 1.099 0.235 0.394 0.705 1.305
1.745E+02 -6.267E+01 0.565 84.677 1.891 1.116 0.135 0.431 0.685 1.339
1.782E+02 -5.191E+01 0.503 78.809 1.981 1.132 0.029 0.474 0.658 1.373
1.810E+02 -4.051E+01 0.440 73.179 2.081 1.145 -0.084 0.524 0.621 1.408
1.829E+02 -2.844E+01 0.377 67.873 2.191 1.156 -0.206 0.583 0.573 1.441
1.834E+02 -1.575E+01 0.314 62.994 2.315 1.165 -0.338 0.652 0.513 1.474
1.825E+02 -2.496E+00 0.251 58.673 2.453 1.171 -0.482 0.733 0.438 1.504
1.799E+02 1.112E+01 0.188 55.058 2.606 1.174 -0.638 0.827 0.347 1.531
1.753E+02 2.477E+01 0.126 52.312 2.774 1.176 -0.808 0.934 0.242 1.552
1.686E+02 3.794E+01 0.063 50.588 2.954 1.176 -0.989 1.052 0.124 1.566
1.600E+02 5.000E+01 0.000 50.000 3.142 1.176 -1.176 1.176 0.000 1.571
1.625E+02 5.877E+01 -0.063 50.589 2.954 1.176 -0.989 0.926 0.124 1.566
1.636E+02 6.759E+01 -0.126 52.312 2.774 1.176 -0.808 0.682 0.242 1.552
1.632E+02 7.657E+01 -0.188 55.058 2.606 1.174 -0.638 0.450 0.347 1.531
1.612E+02 8.576E+01 -0.251 58.673 2.453 1.171 -0.482 0.230 0.438 1.504
1.577E+02 9.509E+01 -0.314 62.995 2.315 1.165 -0.338 0.024 0.513 1.474
1.528E+02 1.044E+02 -0.377 67.873 2.191 1.156 -0.206 -0.171 0.573 1.441
1.466E+02 1.137E+02 -0.440 73.179 2.081 1.145 -0.084 -0.355 0.621 1.408
1.393E+02 1.226E+02 -0.503 78.809 1.981 1.132 0.029 -0.531 0.658 1.373
1.310E+02 1.312E+02 -0.565 84.677 1.891 1.116 0.135 -0.700 0.685 1.339
1.217E+02 1.392E+02 -0.628 90.717 1.808 1.099 0.235 -0.863 0.705 1.305
1.117E+02 1.465E+02 -0.691 96.874 1.732 1.079 0.330 -1.021 0.718 1.270
1.010E+02 1.530E+02 -0.754 103.107 1.662 1.059 0.421 -1.175 0.726 1.236
8.963E+01 1.586E+02 -0.817 109.378 1.595 1.037 0.509 -1.326 0.729 1.202
7.785E+01 1.634E+02 -0.880 115.660 1.533 1.015 0.594 -1.474 0.729 1.168
6.572E+01 1.671E+02 -0.942 121.928 1.474 0.991 0.677 -1.619 0.726 1.134
5.335E+01 1.699E+02 -1.005 128.161 1.417 0.967 0.758 -1.763 0.719 1.101
4.087E+01 1.716E+02 -1.068 134.341 1.363 0.942 0.837 -1.905 0.711 1.068
2.837E+01 1.723E+02 -1.131 140.452 1.311 0.916 0.915 -2.046 0.700 1.034
1.598E+01 1.720E+02 -1.194 146.480 1.260 0.890 0.991 -2.185 0.688 1.001
3.782E+00 1.707E+02 -1.257 152.412 1.211 0.864 1.066 -2.323 0.674 0.968
-8.111E+00 1.685E+02 -1.319 158.238 1.163 0.837 1.141 -2.460 0.659 0.935
-1.961E+01 1.653E+02 -1.382 163.947 1.117 0.810 1.214 -2.597 0.642 0.903
-3.064E+01 1.613E+02 -1.445 169.529 1.071 0.783 1.287 -2.732 0.625 0.870
-4.112E+01 1.565E+02 -1.508 174.975 1.027 0.755 1.359 -2.867 0.607 0.837
-5.098E+01 1.510E+02 -1.571 180.278 0.983 0.728 1.431 -3.002 0.588 0.805
-6.018E+01 1.448E+02 -1.634 185.429 0.940 0.700 1.502 -3.136 0.568 0.772
-6.866E+01 1.381E+02 -1.696 190.421 0.897 0.672 1.573 -3.269 0.548 0.740
-7.639E+01 1.309E+02 -1.759 195.247 0.855 0.643 1.643 -3.403 0.527 0.707
-8.335E+01 1.234E+02 -1.822 199.902 0.814 0.615 1.713 -3.535 0.506 0.675
-8.953E+01 1.155E+02 -1.885 204.378 0.773 0.586 1.783 -3.668 0.484 0.642
-9.492E+01 1.075E+02 -1.948 208.671 0.732 0.557 1.852 -3.800 0.462 0.610
-9.954E+01 9.929E+01 -2.011 212.775 0.692 0.529 1.921 -3.932 0.439 0.578
-1.034E+02 9.106E+01 -2.073 216.686 0.652 0.500 1.990 -4.064 0.416 0.546
-1.065E+02 8.288E+01 -2.136 220.397 0.612 0.471 2.059 -4.195 0.393 0.513
-1.090E+02 7.479E+01 -2.199 223.905 0.573 0.441 2.127 -4.326 0.370 0.481
-1.107E+02 6.688E+01 -2.262 227.206 0.534 0.412 2.196 -4.458 0.346 0.449
-1.119E+02 5.920E+01 -2.325 230.296 0.495 0.383 2.264 -4.589 0.322 0.417
-1.126E+02 5.179E+01 -2.388 233.172 0.456 0.354 2.332 -4.719 0.298 0.385
-1.127E+02 4.470E+01 -2.450 235.829 0.417 0.325 2.400 -4.850 0.274 0.353
-1.125E+02 3.796E+01 -2.513 238.266 0.379 0.295 2.467 -4.981 0.249 0.321
-1.118E+02 3.158E+01 -2.576 240.478 0.341 0.266 2.535 -5.111 0.225 0.288
-1.109E+02 2.559E+01 -2.639 242.465 0.303 0.236 2.603 -5.242 0.200 0.256
-1.098E+02 1.998E+01 -2.702 244.223 0.265 0.207 2.670 -5.372 0.175 0.224
-1.085E+02 1.474E+01 -2.765 245.750 0.227 0.177 2.738 -5.502 0.150 0.192
-1.070E+02 9.875E+00 -2.827 247.046 0.189 0.148 2.805 -5.632 0.125 0.160
-1.056E+02 5.349E+00 -2.890 248.108 0.151 0.118 2.872 -5.763 0.100 0.128
-1.041E+02 1.136E+00 -2.953 248.935 0.113 0.089 2.940 -5.893 0.075 0.096
-1.026E+02 -2.798E+00 -3.016 249.526 0.075 0.059 3.007 -6.023 0.050 0.064
-1.013E+02 -6.495E+00 -3.079 249.882 0.038 0.030 3.074 -6.153 0.025 0.032
-1.000E+02 -1.000E+01 -3.142 250.000 0.000 0.000 3.142 -6.283 0.000 0.000
dprime bprime Rb Rd Ric t alpha8 u alpha9
1.41E+03 1.51E+03 1.66E+03 1.54E+03 1.61E+03 50.990 0.197 100.499 0.100
1.41E+03 1.51E+03 1.66E+03 1.54E+03 1.61E+03 50.990 0.197 101.469 0.127
1.41E+03 1.51E+03 1.66E+03 1.54E+03 1.61E+03 50.990 0.197 102.665 0.153
1.40E+03 1.50E+03 1.65E+03 1.53E+03 1.60E+03 50.990 0.197 104.076 0.178
1.39E+03 1.49E+03 1.64E+03 1.52E+03 1.59E+03 50.990 0.197 105.688 0.201
1.38E+03 1.48E+03 1.63E+03 1.51E+03 1.58E+03 50.990 0.197 107.485 0.222
1.37E+03 1.46E+03 1.61E+03 1.50E+03 1.56E+03 50.990 0.197 109.452 0.242
1.35E+03 1.44E+03 1.59E+03 1.48E+03 1.55E+03 50.990 0.197 111.573 0.260
1.33E+03 1.42E+03 1.57E+03 1.46E+03 1.53E+03 50.990 0.197 113.832 0.276
1.31E+03 1.39E+03 1.54E+03 1.44E+03 1.50E+03 50.990 0.197 116.211 0.290
1.28E+03 1.36E+03 1.51E+03 1.41E+03 1.48E+03 50.990 0.197 118.696 0.303
1.26E+03 1.33E+03 1.48E+03 1.39E+03 1.45E+03 50.990 0.197 121.269 0.314
1.23E+03 1.30E+03 1.45E+03 1.36E+03 1.42E+03 50.990 0.197 123.917 0.323
1.20E+03 1.26E+03 1.41E+03 1.33E+03 1.38E+03 50.990 0.197 126.624 0.330
1.16E+03 1.22E+03 1.37E+03 1.29E+03 1.35E+03 50.990 0.197 129.376 0.336
1.13E+03 1.18E+03 1.33E+03 1.26E+03 1.31E+03 50.990 0.197 132.161 0.341
1.09E+03 1.14E+03 1.29E+03 1.22E+03 1.27E+03 50.990 0.197 134.966 0.344
1.05E+03 1.10E+03 1.25E+03 1.18E+03 1.23E+03 50.990 0.197 137.778 0.346
1.01E+03 1.05E+03 1.20E+03 1.14E+03 1.19E+03 50.990 0.197 140.588 0.347
9.75E+02 1.01E+03 1.16E+03 1.10E+03 1.14E+03 50.990 0.197 143.383 0.346
9.34E+02 9.60E+02 1.11E+03 1.06E+03 1.10E+03 50.990 0.197 146.156 0.345
8.91E+02 9.11E+02 1.06E+03 1.02E+03 1.05E+03 50.990 0.197 148.895 0.343
8.49E+02 8.62E+02 1.01E+03 9.79E+02 1.01E+03 50.990 0.197 151.593 0.340
8.06E+02 8.12E+02 9.62E+02 9.36E+02 9.59E+02 50.990 0.197 154.241 0.336
7.62E+02 7.62E+02 9.12E+02 8.92E+02 9.11E+02 50.990 0.197 156.831 0.331
7.18E+02 7.11E+02 8.61E+02 8.48E+02 8.64E+02 50.990 0.197 159.356 0.326
6.74E+02 6.61E+02 8.11E+02 8.04E+02 8.16E+02 50.990 0.197 161.808 0.320
6.31E+02 6.10E+02 7.60E+02 7.61E+02 7.68E+02 50.990 0.197 164.182 0.313
5.88E+02 5.61E+02 7.11E+02 7.18E+02 7.21E+02 50.990 0.197 166.471 0.307
5.45E+02 5.11E+02 6.61E+02 6.75E+02 6.74E+02 50.990 0.197 168.668 0.299
5.03E+02 4.63E+02 6.13E+02 6.33E+02 6.28E+02 50.990 0.197 170.768 0.292
4.62E+02 4.15E+02 5.65E+02 5.92E+02 5.83E+02 50.990 0.197 172.765 0.284
4.21E+02 3.69E+02 5.19E+02 5.51E+02 5.39E+02 50.990 0.197 174.651 0.277
3.82E+02 3.24E+02 4.74E+02 5.12E+02 4.96E+02 50.990 0.197 176.423 0.269
3.45E+02 2.80E+02 4.30E+02 4.75E+02 4.55E+02 50.990 0.197 178.072 0.261
3.08E+02 2.39E+02 3.89E+02 4.38E+02 4.15E+02 50.990 0.197 179.592 0.254
2.74E+02 1.99E+02 3.49E+02 4.04E+02 3.77E+02 50.990 0.197 180.974 0.246
2.41E+02 1.61E+02 3.11E+02 3.71E+02 3.41E+02 50.990 0.197 182.209 0.240
2.10E+02 1.25E+02 2.75E+02 3.40E+02 3.06E+02 50.990 0.197 183.285 0.233
1.80E+02 9.16E+01 2.42E+02 3.10E+02 2.74E+02 50.990 0.197 184.187 0.228
1.53E+02 6.06E+01 2.11E+02 2.83E+02 2.44E+02 50.990 0.197 184.894 0.224
1.28E+02 3.21E+01 1.82E+02 2.58E+02 2.17E+02 50.990 0.197 185.380 0.221
1.06E+02 6.28E+00 1.56E+02 2.36E+02 1.92E+02 50.990 0.197 185.607 0.219
8.51E+01 -1.68E+01 1.33E+02 2.15E+02 1.69E+02 50.990 0.197 185.524 0.220
6.69E+01 -3.72E+01 1.13E+02 1.97E+02 1.49E+02 50.990 0.197 185.060 0.223
5.09E+01 -5.46E+01 9.54E+01 1.81E+02 1.31E+02 50.990 0.197 184.116 0.229
3.72E+01 -6.92E+01 8.08E+01 1.67E+02 1.16E+02 50.990 0.197 182.566 0.238
2.55E+01 -8.10E+01 6.90E+01 1.55E+02 1.04E+02 50.990 0.197 180.259 0.250
1.56E+01 -8.99E+01 6.01E+01 1.46E+02 9.33E+01 50.990 0.197 177.044 0.266
7.23E+00 -9.62E+01 5.38E+01 1.37E+02 8.49E+01 50.990 0.197 172.823 0.284
-1.08E-04 -1.00E+02 5.00E+01 1.30E+02 7.81E+01 50.990 0.197 167.631 0.303
-7.86E+00 -1.05E+02 4.55E+01 1.22E+02 7.82E+01 50.990 0.197 172.823 0.284
-1.99E+01 -1.15E+02 3.54E+01 1.10E+02 7.30E+01 50.990 0.197 177.044 0.266
-4.31E+01 -1.37E+02 1.30E+01 8.69E+01 5.84E+01 50.990 0.197 180.259 0.250
-1.09E+02 -2.03E+02 -5.29E+01 2.11E+01 5.00E+01 50.990 0.197 182.566 0.238
-1.30E+03 -1.39E+03 -1.24E+03 -1.17E+03 1.22E+03 50.990 0.197 184.116 0.229
2.16E+02 1.20E+02 2.70E+02 3.46E+02 3.04E+02 50.990 0.197 185.060 0.223
1.22E+02 2.42E+01 1.74E+02 2.52E+02 2.09E+02 50.990 0.197 185.524 0.220
9.51E+01 -5.65E+00 1.44E+02 2.25E+02 1.80E+02 50.990 0.197 185.607 0.219
8.32E+01 -2.08E+01 1.29E+02 2.13E+02 1.65E+02 50.990 0.197 185.380 0.221
7.74E+01 -3.06E+01 1.19E+02 2.07E+02 1.55E+02 50.990 0.197 184.894 0.224
7.48E+01 -3.80E+01 1.12E+02 2.05E+02 1.47E+02 50.990 0.197 184.187 0.228
7.42E+01 -4.43E+01 1.06E+02 2.04E+02 1.41E+02 50.990 0.197 183.285 0.233
7.51E+01 -5.02E+01 9.98E+01 2.05E+02 1.34E+02 50.990 0.197 182.209 0.240
7.74E+01 -5.62E+01 9.38E+01 2.07E+02 1.27E+02 50.990 0.197 180.974 0.246
8.10E+01 -6.27E+01 8.73E+01 2.11E+02 1.20E+02 50.990 0.197 179.592 0.254
8.60E+01 -7.00E+01 8.00E+01 2.16E+02 1.12E+02 50.990 0.197 178.072 0.261
9.28E+01 -7.86E+01 7.14E+01 2.23E+02 1.03E+02 50.990 0.197 176.423 0.269
1.02E+02 -8.91E+01 6.09E+01 2.32E+02 9.22E+01 50.990 0.197 174.651 0.277
1.14E+02 -1.02E+02 4.76E+01 2.44E+02 7.99E+01 50.990 0.197 172.764 0.284
1.30E+02 -1.20E+02 3.01E+01 2.60E+02 6.57E+01 50.990 0.197 170.768 0.292
1.54E+02 -1.44E+02 5.69E+00 2.84E+02 5.25E+01 50.990 0.197 168.668 0.299
1.89E+02 -1.81E+02 -3.08E+01 3.19E+02 5.49E+01 50.990 0.197 166.471 0.307
2.49E+02 -2.41E+02 -9.13E+01 3.79E+02 9.90E+01 50.990 0.197 164.182 0.313
3.69E+02 -3.61E+02 -2.11E+02 4.99E+02 2.14E+02 50.990 0.197 161.808 0.320
7.18E+02 -7.11E+02 -5.61E+02 8.48E+02 5.63E+02 50.990 0.197 159.356 0.326
1.75E+04 -1.75E+04 -1.74E+04 1.77E+04 1.74E+04 50.990 0.197 156.831 0.331
-7.78E+02 7.84E+02 9.34E+02 -6.48E+02 9.31E+02 50.990 0.197 154.241 0.336
-3.81E+02 3.87E+02 5.37E+02 -2.51E+02 5.32E+02 50.990 0.197 151.593 0.340
-2.52E+02 2.58E+02 4.08E+02 -1.22E+02 4.01E+02 50.990 0.197 148.895 0.343
-1.89E+02 1.95E+02 3.45E+02 -5.93E+01 3.36E+02 50.990 0.197 146.156 0.345
-1.52E+02 1.57E+02 3.07E+02 -2.20E+01 2.96E+02 50.990 0.197 143.383 0.346
-1.27E+02 1.32E+02 2.82E+02 2.67E+00 2.69E+02 50.990 0.197 140.588 0.347
-1.10E+02 1.15E+02 2.65E+02 2.00E+01 2.49E+02 50.990 0.197 137.778 0.346
-9.71E+01 1.02E+02 2.52E+02 3.29E+01 2.33E+02 50.990 0.197 134.965 0.344
-8.73E+01 9.17E+01 2.42E+02 4.27E+01 2.21E+02 50.990 0.197 132.161 0.341
-7.96E+01 8.38E+01 2.34E+02 5.04E+01 2.10E+02 50.990 0.197 129.376 0.336
-7.35E+01 7.75E+01 2.28E+02 5.65E+01 2.02E+02 50.990 0.197 126.624 0.330
-6.85E+01 7.24E+01 2.22E+02 6.15E+01 1.94E+02 50.990 0.197 123.917 0.323
-6.44E+01 6.82E+01 2.18E+02 6.56E+01 1.87E+02 50.990 0.197 121.269 0.314
-6.10E+01 6.47E+01 2.15E+02 6.90E+01 1.82E+02 50.990 0.197 118.696 0.303
-5.81E+01 6.19E+01 2.12E+02 7.19E+01 1.76E+02 50.990 0.197 116.211 0.290
-5.58E+01 5.95E+01 2.09E+02 7.42E+01 1.72E+02 50.990 0.197 113.832 0.276
-5.39E+01 5.75E+01 2.07E+02 7.61E+01 1.68E+02 50.990 0.197 111.573 0.260
-5.23E+01 5.58E+01 2.06E+02 7.77E+01 1.64E+02 50.990 0.197 109.452 0.242
-5.10E+01 5.45E+01 2.05E+02 7.90E+01 1.61E+02 50.990 0.197 107.485 0.222
-5.00E+01 5.35E+01 2.03E+02 8.00E+01 1.58E+02 50.990 0.197 105.688 0.201
-4.92E+01 5.27E+01 2.03E+02 8.08E+01 1.56E+02 50.990 0.197 104.076 0.178
-4.87E+01 5.21E+01 2.02E+02 8.13E+01 1.54E+02 50.990 0.197 102.665 0.153
-4.84E+01 5.18E+01 2.02E+02 8.16E+01 1.53E+02 50.990 0.197 101.469 0.127
1.41E+03 1.51E+03 1.66E+03 1.54E+03 1.61E+03 50.990 0.197 100.499 0.100
-200 -150 -100 -50 0 50 100 150
2

Coupler Point Motion

1

Y position
0

X position
 100 150
200

er Point Motion
150

100

50
Y position

-50

-100

-150

-200