RIGIDOS

4200 0 0 -4200 0 0 2110 2089.88 35.6378 -2110 -2089.9

0 20.16 50.4 0 -20.16 50.4 2089.88 2110 -35.638 -2089.9 -2110
0 50.4 168 0 -50.4 84 35.6378 -35.638 168 -35.638 35.6378
-4200 0 0 4200 0 0 -2110 -2089.9 -35.638 2110 2089.88
0 -20.16 -50.4 0 20.16 -50.4 -2089.9 -2110 35.6378 2089.88 2110
0 50.4 84 0 -50.4 168 35.6378 -35.638 84 -35.638 35.6378
ARTI-I
4200 0 0 -4200 0 0 2102.48 2097.44 0 -2102.5 -2097.4
0 5.04 0 0 -5.04 25.2 2097.44 2102.48 0 -2097.4 -2102.5
0 0 0 0 0 0 0 0 0 0 0
-4200 0 0 4200 0 0 -2102.5 -2097.4 0 2102.48 2097.44
0 -5.04 0 0 5.04 -25.2 -2097.4 -2102.5 0 2097.44 2102.48
0 25.2 0 0 -25.2 126 17.8189 -17.819 0 -17.819 17.8189
ARTI-J
4200 0 0 -4200 0 0 2102.48 2097.44 17.8189 -2102.5 -2097.4
0 5.04 25.2 0 -5.04 0 2097.44 2102.48 -17.819 -2097.4 -2102.5
0 25.2 126 0 -25.2 0 17.8189 -17.819 126 -17.819 17.8189
-4200 0 0 4200 0 0 -2102.5 -2097.4 -17.819 2102.48 2097.44
0 -5.04 -25.2 0 5.04 0 -2097.4 -2102.5 17.8189 2097.44 2102.48
0 0 0 0 0 0 0 0 0 0 0
BIARTIC
4200 0 -4200 0 2100 2100 -2100
0 0 0 0 2100 2100 -2100
-4200 0 4200 0 -2100 -2100 2100
0 0 0 0 -2100 -2100 2100
 U F´ RIGIDOS
35.6378 -5.2892 -0.7071 0.7071 0 0
-35.638 -0.4022 -0.7071 -0.7071 0 0
84 -1.3194 K*Lt 0 0 1 0
-35.638 5.28925 -4546.5 2625 0 0 0 0 -0.7071
35.6378 0.40218 -4.9219 -8.5247 0 0 0 0 -0.7071
168 -0.6915 -19.688 -34.099 0 0 0 0 0
-2969.8 14.2551 35.6378 2969.82
17.8189 -5.2907 -2969.8 -14.255 -35.638 2969.82
-17.819 -0.0359 0 50.4 168 0
0 0 2969.82 -14.255 -35.638 -2969.8
-17.819 5.29073 L*K 2969.82 14.2551 35.6378 -2969.8
17.8189 0.03588 4546.5 4.92188 0 0 50.4 84 0
126 -0.1794 -2625 8.52469 0 ARTI-J
0 0 0 -0.7071 0.7071 0 0
0 0 L*K*Lt -0.7071 -0.7071 0 0
0 0 3939.73 -2269 0 0 0 1 0
0 0 -2269 1319.88 0 0 0 0 -0.7071
0 0 0 0 0 0 0 0 -0.7071
0 0
0 0 -2969.8 3.56378 17.8189 2969.82
-2969.8 -3.5638 -17.819 2969.82
-2100 0 0 25.2 126 0
-2100 0 2969.82 -3.5638 -17.819 -2969.8
2100 0 2969.82 3.56378 17.8189 -2969.8
2100 0
ARTI-I
-0.7071 0.7071 0
-0.7071 -0.7071 0

0 0 -0.7071
0 0 -0.7071
0 0 0
-2969.8 3.56378 2969.82
-2969.8 -3.5638 2969.82

2969.82 -3.5638 -2969.8

2969.82 3.56378 -2969.8
0 25.2 0

-0.7071 0.7071 0 0
-0.7071 -0.7071 0 0
0 0 1 0
0 0 0 -0.7071
0 0 0 -0.7071
0 0 0 0
-2969.8 0 0 2969.82
-2969.8 0 0 2969.82
0 0 0 0
2969.82 0 0 -2969.8
2969.82 0 0 -2969.8
0 0 0 0
 RIGIDOS RIGIDOS
0 0 4200 0 0 -4200 0 0 -2969.8 14.2551 35.6378
0 0 0 20.16 50.4 0 -20.16 50.4 -2969.8 -14.255 -35.638
0 0 0 50.4 168 0 -50.4 84 0 50.4 168
0.7071 0 -4200 0 0 4200 0 0 2969.82 -14.255 -35.638
-0.7071 0 0 -20.16 -50.4 0 20.16 -50.4 2969.82 14.2551 35.6378
0 1 0 50.4 84 0 -50.4 168 0 50.4 84
-14.255 35.6378 -0.7071 -0.7071 0 0 0 0 2110 2089.88 35.6378
14.2551 -35.638 0.7071 -0.7071 0 0 0 0 2089.88 2110 -35.638
-50.4 84 0 0 1 0 0 0 35.6378 -35.638 168
14.2551 -35.638 0 0 0 -0.7071 -0.7071 0 -2110 -2089.9 -35.638
-14.255 35.6378 0 0 0 0.7071 -0.7071 0 -2089.9 -2110 35.6378
-50.4 168 0 0 0 0 0 1 35.6378 -35.638 84
ARTI-J ARTI-J
0 4200 0 0 -4200 0 -2969.8 3.56378 17.8189
0 0 5.04 25.2 0 -5.04 -2969.8 -3.5638 -17.819
0 0 25.2 126 0 -25.2 0 25.2 126
0.7071 -4200 0 0 4200 0 2969.82 -3.5638 -17.819
-0.7071 0 -5.04 -25.2 0 5.04 2969.82 3.56378 17.8189

-3.5638 -0.7071 -0.7071 0 0 0 2102.48 2097.44 17.8189

3.56378 0.7071 -0.7071 0 0 0 2097.44 2102.48 -17.819
-25.2 0 0 1 0 0 17.8189 -17.819 126
3.56378 0 0 0 -0.7071 -0.7071 -2102.5 -2097.4 -17.819
-3.5638 0 0 0 0.7071 -0.7071 -2097.4 -2102.5 17.8189
0 0 0
ARTI-I ARTI-I
0 0 4200 0 -4200 0 0 -2969.8 3.56378
0 0 0 5.04 0 -5.04 25.2 -2969.8 -3.5638

0.7071 0 -4200 0 4200 0 02969.82 -3.5638

-0.7071 0 0 -5.04 0 5.04 -25.22969.82 3.56378
0 1 0 25.2 0 -25.2 126 0 25.2
-3.5638 17.8189 -0.7071 -0.7071 0 0 02102.48 2097.44 0
3.56378 -17.819 0.7071 -0.7071 0 0 02097.44 2102.48 0
0 0 0
3.56378 -17.819 0 0 -0.7071 -0.7071 0 -2102.5 -2097.4 0
-3.5638 17.8189 0 0 0.7071 -0.7071 0 -2097.4 -2102.5 0
-25.2 126 0 0 0 0 1 17.8189 -17.819 0

0 0 4200 0 0 -4200 0 0 -2969.8 0 0

0 0 0 0 0 0 0 0 -2969.8 0 0
0 0 0 0 0 0 0 0 0 0 0
0.7071 0 -4200 0 0 4200 0 0 2969.82 0 0
-0.7071 0 0 0 0 0 0 0 2969.82 0 0
0 1 0 0 0 0 0 0 0 0 0
0 0 -0.7071 -0.7071 0 0 0 0 2100 2100 0
0 0 0.7071 -0.7071 0 0 0 0 2100 2100 0
0 0 0 0 1 0 0 0 0 0 0
0 0 0 0 0 -0.7071 -0.7071 0 -2100 -2100 0
0 0 0 0 0 0.7071 -0.7071 0 -2100 -2100 0
0 0 0 0 0 0 0 1 0 0 0
2969.82 -14.255 35.6378 4200 0 0 -4200 0 0 -0.7071
2969.82 14.2551 -35.638 0 20.16 50.4 0 -20.16 50.4 0.7071
0 -50.4 84 0 50.4 168 0 -50.4 84 0
-2969.8 14.2551 -35.638 -4200 0 0 4200 0 0 0
-2969.8 -14.255 35.6378 0 -20.16 -50.4 0 20.16 -50.4 0
0 -50.4 168 0 50.4 84 0 -50.4 168 0
-2110 -2089.9 35.6378
-2089.9 -2110 -35.638
-35.638 35.6378 84
2110 2089.88 -35.638
2089.88 2110 35.6378
-35.638 35.6378 168

2969.82 -3.5638 4200 0 0 -4200 0 0 -0.7071

2969.82 3.56378 0 5.04 0 0 -5.04 25.2 0.7071
0 -25.2 0 0 0 0 0 0 0
-2969.8 3.56378 -4200 0 0 4200 0 0 0
-2969.8 -3.5638 0 -5.04 0 0 5.04 -25.2 0
0 25.2 0 0 -25.2 126 0
-2102.5 -2097.4 0
-2097.4 -2102.5 0
-17.819 17.8189 0
2102.48 2097.44 0
2097.44 2102.48 0
0 0 0

2969.82 -3.5638 17.8189 4200 0 0 -4200 0 0 -0.7071

2969.82 3.56378 -17.819 0 5.04 25.2 0 -5.04 0 0.7071
0 25.2 126 0 -25.2 0 0
-2969.8 3.56378 -17.819 -4200 0 0 4200 0 0 0
-2969.8 -3.5638 17.8189 0 -5.04 -25.2 0 5.04 0 0
0 -25.2 126 0 0 0 0 0 0 0
-2102.5 -2097.4 17.8189
-2097.4 -2102.5 -17.819
0 0 0
2102.48 2097.44 -17.819
2097.44 2102.48 17.8189
-17.819 17.8189 126

2969.82 0 0 4200 0 0 -4200 0 0 -0.7071

2969.82 0 0 0 0 0 0 0 0 0.7071
0 0 0 0 0 0 0 0 0 0
-2969.8 0 0 -4200 0 0 4200 0 0 0
-2969.8 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0
-2100 -2100 0
-2100 -2100 0 L*K
0 0 0 0.866 0.5 0 4546.5 4.92188 0 0.866
2100 2100 0 -0.5 0.866 0 -2625 8.52469 0 0.5
2100 2100 0 0 0 1 0 0 0 0
0 0 0
-0.7071 0 0 0 0 -2969.8 -2969.8 0 2969.82 2969.82 0
-0.7071 0 0 0 0 14.2551 -14.255 50.4 -14.255 14.2551 50.4
0 1 0 0 0 35.6378 -35.638 168 -35.638 35.6378 84
0 0 -0.7071 -0.7071 0 2969.82 2969.82 0 -2969.8 -2969.8 0
0 0 0.7071 -0.7071 0 -14.255 14.2551 -50.4 14.2551 -14.255 -50.4
0 0 0 0 1 35.6378 -35.638 84 -35.638 35.6378 168

-0.7071 0 0 0 0 -2969.8 -2969.8 0 2969.82 2969.82 0

-0.7071 0 0 0 0 3.56378 -3.5638 0 -3.5638 3.56378 25.2
0 1 0 0 0 0 0 0 0 0 0
0 0 -0.7071 -0.7071 0 2969.82 2969.82 0 -2969.8 -2969.8 0
0 0 0.7071 -0.7071 0 -3.5638 3.56378 0 3.56378 -3.5638 -25.2
0 0 0 0 1 17.8189 -17.819 0 -17.819 17.8189 126

-0.7071 0 0 0 0 -2969.8 -2969.8 0 2969.82 2969.82 0

-0.7071 0 0 0 0 3.56378 -3.5638 25.2 -3.5638 3.56378 0
0 1 0 0 0 17.8189 -17.819 126 -17.819 17.8189 0
0 0 -0.7071 -0.7071 0 2969.82 2969.82 0 -2969.8 -2969.8 0
0 0 0.7071 -0.7071 0 -3.5638 3.56378 -25.2 3.56378 -3.5638 0
0 0 0 0 1 0 0 0 0 0 0

-0.7071 0 0 0 0 -2969.8 -2969.8 0 2969.82 2969.82 0

-0.7071 0 0 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0 0 0
0 0 -0.7071 -0.7071 0 2969.82 2969.82 0 -2969.8 -2969.8 0
0 0 0.7071 -0.7071 0 0 0 0 0 0 0
0 0 0 0 1 0 0 0 0 0 0

L*K*Lt K*Lt
-0.5 0 3939.73 -2269 0 0.866 -0.5 0 -4546.5 2625
0.866 0 -2269 1319.88 0 0.5 0.866 0 -4.9219 -8.5247
0 1 0 0 0 0 0 1 -19.688 -34.099
 -5.2892
-0.4022
-1.3194
5.28925
0.40218
-0.6915

-5.2907
-0.0359
0
5.29073
0.03588
-0.1794

0
0
0
0
0
0

0
0
0
0
0
0

0
0
0
E RIGIDOS
21000000 4200 0 0 -4200 0 0 2110 2089.88 35.6378 -2110
A 0 20.16 50.4 0 -20.16 50.4 2089.88 2110 -35.638 -2089.9
1.00E-03 0 50.4 168 0 -50.4 84 35.6378 -35.638 168 -35.638
I -4200 0 0 4200 0 0 -2110 -2089.9 -35.638 2110
1.00E-05 0 -20.16 -50.4 0 20.16 -50.4 -2089.9 -2110 35.6378 2089.88
L 0 50.4 84 0 -50.4 168 35.6378 -35.638 84 -35.638
5 ARTI-I
grados 4200 0 0 -4200 0 0 2102.48 2097.44 0 -2102.5
225 0 5.04 0 0 -5.04 25.2 2097.44 2102.48 0 -2097.4
Radianes 0 0 0 0 0 0 0 0 0 0
3.92699075 -4200 0 0 4200 0 0 -2102.5 -2097.4 0 2102.48
0 -5.04 0 0 5.04 -25.2 -2097.4 -2102.5 0 2097.44
0 25.2 0 0 -25.2 126 17.8189 -17.819 0 -17.819
ARTI-J
4200 0 0 -4200 0 0 2102.48 2097.44 17.8189 -2102.5
0 5.04 25.2 0 -5.04 0 2097.44 2102.48 -17.819 -2097.4
0 25.2 126 0 -25.2 0 17.8189 -17.819 126 -17.819
-4200 0 0 4200 0 0 -2102.5 -2097.4 -17.819 2102.48
0 -5.04 -25.2 0 5.04 0 -2097.4 -2102.5 17.8189 2097.44
0 0 0 0 0 0 0 0 0 0
BIARTIC
4200 0 -4200 0 2100 2100
0 0 0 0 2100 2100
-4200 0 4200 0 -2100 -2100
0 0 0 0 -2100 -2100
 U´ F´ grados 30 alfa 0.52359877
-2089.9 35.6378 0 -5.2892
-2110 -35.638 0.00178 -0.4022 -5250 0
35.6378 84 -0.0075 -1.3194 0 -9.8438
2089.88 -35.638 0 5.28925 0 -39.375
2110 35.6378 0 0.40218
35.6378 168 0 -0.6915 K*Lt
-4546.5 2625 0
-2097.4 17.8189 0 -5.2907 -4.9219 -8.5247 0
-2102.5 -17.819 0.00178 -0.0359 -19.688 -34.099 0
0 0 0.1 0
2097.44 -17.819 0 5.29073 5250 0
2102.48 17.8189 0 0.03588 0 9.84375
17.8189 126 -0.0012 -0.1794

-2097.4 0 0 L*K
-2102.5 0 0 4546.5 4.92188 0
17.8189 0 0 -2625 8.52469 0
2097.44 0 0 0 0 0
2102.48 0 0 L*K*Lt
0 0 0 3939.73 -2269 0
-2269 1319.88 0
-2100 -2100 0 0 0 0
-2100 -2100 0
2100 2100 0
2100 2100 0