lOMoARcPSD|5477505

UNIVERSIDAD NACIONAL AUTÓNOMA DE

HONDURAS

FACULTAD DE INGENIERIA

Departamento de Ingeniería Mecánica Industrial

TAREA 2DO PARCIAL

CINEMATICA DE MAQUINAS (IM-326)

Sección: 1700

Catedrático: Ing. Jimmy Cáceres

Alumno: Alejandro Josué Velasquez López

# de Cuenta: 20181031296

Ciudad Universitaria José Trinidad Reye

 Abierta Cerrada Abierta Cerrada
𝛉𝟐 Eslabón 1 Eslabón 2 Eslabón 3 Eslabón 4 𝛉𝟑,𝟏 𝛉𝟑,𝟐 𝛉𝟒,𝟏 𝛉𝟒,𝟐 A B C D E F a 8 𝐊𝟏 0.625
0 5 8 8 9 -80.4059318 80.4059318 -61.2177953 61.2177953 0.55555556 0 -0.19444444 0.4375 0 -0.3125 b 8 𝐊𝟐 0.55555556
5 5 8 8 9 -67.7141657 94.1413222 -48.1608369 74.5879935 0.55386431 -0.17431149 -0.18852509 0.43131638 -0.17431149 -0.31107301 c 9 𝐊𝟑 0.73611111
10 5 8 8 9 -56.6133961 108.13859 -36.0044042 87.5295977 0.54880345 -0.34729636 -0.17081206 0.4128126 -0.34729636 -0.30680291 d 5 𝑲𝟒 0.625
15 5 8 8 9 -47.2715729 121.680584 -25.0176153 99.4266265 0.54041148 -0.51763809 -0.14144017 0.38212947 -0.51763809 -0.29972218 𝑲𝟓 -0.5625
20 5 8 8 9 -39.5574214 134.323124 -15.1930468 109.958749 0.52875228 -0.68404029 -0.10063297 0.33950051 -0.68404029 -0.28988473
25 5 8 8 9 -33.2040328 145.906105 -6.37956787 119.08164 0.51391457 -0.84523652 -0.048701 0.28525015 -0.84523652 -0.27736542
30 5 8 8 9 -27.9288393 156.455981 1.6108811 126.916261 0.49601129 -1 0.01396048 0.21979128 -1 -0.26225953
35 5 8 8 9 -23.4872757 166.085997 8.95061832 133.648103 0.47517869 -1.14715287 0.0868746 0.14362207 -1.14715287 -0.24468202
40 5 8 8 9 -19.6851438 174.933031 15.7799512 139.467936 0.45157531 -1.28557522 0.16948642 0.05732222 -1.28557522 -0.22476667
45 5 8 8 9 -16.3737744 -176.872877 22.2073475 144.546002 0.42538079 -1.41421356 0.26116723 -0.03845148 -1.41421356 -0.20266504
50 5 8 8 9 -13.4406752 -169.219671 28.3148536 149.0248 0.39679449 -1.53208889 0.36121927 -0.14297013 -1.53208889 -0.17854535
55 5 8 8 9 -10.8005931 -162.015168 34.1640933 153.020145 0.36603397 -1.63830409 0.4688811 -0.25543829 -1.63830409 -0.15259116
60 5 8 8 9 -8.3883389 -155.18524 39.8013462 156.625075 0.33333333 -1.73205081 0.58333333 -0.375 -1.73205081 -0.125
65 5 8 8 9 -6.15340398 -148.670929 45.2614613 159.914206 0.29894145 -1.81261557 0.70370493 -0.50074532 -1.81261557 -0.09598185
70 5 8 8 9 -4.05603065 -142.425579 50.5707521 162.947639 0.26312006 -1.87938524 0.82907978 -0.63171727 -1.87938524 -0.06575755
75 5 8 8 9 -2.06436807 -136.412354 55.7491072 165.77417 0.2261418 -1.93185165 0.95850371 -0.76691905 -1.93185165 -0.03455714
80 5 8 8 9 -0.15241131 -130.602228 60.8115209 168.43384 0.18828808 -1.96961551 1.09099172 -0.90532171 -1.96961551 -0.00261807
85 5 8 8 9 1.70150158 -124.972394 65.7692074 170.959901 0.149847 -1.9923894 1.22553551 -1.04587192 -1.9923894 0.0298166
90 5 8 8 9 3.5157955 -119.505029 70.630415 173.380351 0.11111111 -2 1.36111111 -1.1875 -2 0.0625
95 5 8 8 9 5.30648023 -114.186343 75.4010276 175.71911 0.07237523 -1.9923894 1.49668671 -1.32912808 -1.9923894 0.0951834
100 5 8 8 9 7.08776706 -109.005832 80.0850125 177.996923 0.03393414 -1.96961551 1.6312305 -1.46967829 -1.96961551 0.12761807
105 5 8 8 9 8.8725346 -103.955707 84.6847598 -179.767932 -0.00391958 -1.93185165 1.76371851 -1.60808095 -1.93185165 0.15955714
110 5 8 8 9 10.6726815 -99.0304368 89.201344 -177.559099 -0.04089784 -1.87938524 1.89314245 -1.74328273 -1.87938524 0.19075755
115 5 8 8 9 12.499392 -94.2263849 93.6347331 -175.361726 -0.07671923 -1.81261557 2.0185173 -1.87425468 -1.81261557 0.22098185
120 5 8 8 9 14.3633316 -89.5415105 97.9839614 -173.16214 -0.11111111 -1.73205081 2.13888889 -2 -1.73205081 0.25
125 5 8 8 9 16.2747843 -84.9751133 102.247281 -170.94761 -0.14381175 -1.63830409 2.25334112 -2.11956171 -1.63830409 0.27759116
130 5 8 8 9 18.2437397 -80.5276061 106.422306 -168.706172 -0.17457227 -1.53208889 2.36100295 -2.23202987 -1.53208889 0.30354535
135 5 8 8 9 20.2799326 -76.2003022 110.506149 -166.426519 -0.20315857 -1.41421356 2.46105499 -2.33654852 -1.41421356 0.32766504
140 5 8 8 9 22.3928415 -71.9952066 114.495573 -164.097938 -0.22935309 -1.28557522 2.5527358 -2.43232222 -1.28557522 0.34976667
145 5 8 8 9 24.5916453 -67.9148039 118.387148 -161.710307 -0.25295646 -1.14715287 2.63534762 -2.51862207 -1.14715287 0.36968202
150 5 8 8 9 26.8851455 -63.9618391 122.17742 -159.254114 -0.27378907 -1 2.70826174 -2.59479128 -1 0.38725953
155 5 8 8 9 29.2816564 -60.1390889 125.863101 -156.720533 -0.29169235 -0.84523652 2.77092322 -2.66025015 -0.84523652 0.40236542
160 5 8 8 9 31.7888727 -56.4491288 129.441256 -154.101512 -0.30653005 -0.68404029 2.82285519 -2.71450051 -0.68404029 0.41488473
165 5 8 8 9 34.4137257 -52.8941009 132.909506 -151.389881 -0.31818926 -0.51763809 2.8636624 -2.75712947 -0.51763809 0.42472218
170 5 8 8 9 37.1622394 -49.4754934 136.266212 -148.579466 -0.32658122 -0.34729636 2.89303428 -2.7878126 -0.34729636 0.43180291
175 5 8 8 9 40.0394042 -46.1939441 139.51065 -145.66519 -0.33164209 -0.17431149 2.91074731 -2.80631638 -0.17431149 0.43607301
180 5 8 8 9 43.0490798 -43.0490798 142.643148 -142.643148 -0.33333333 -2.4503E-16 2.91666667 -2.8125 -2.4503E-16 0.4375
185 5 8 8 9 46.1939441 -40.0394042 145.66519 -139.51065 -0.33164209 0.17431149 2.91074731 -2.80631638 0.17431149 0.43607301
190 5 8 8 9 49.4754934 -37.1622394 148.579466 -136.266212 -0.32658122 0.34729636 2.89303428 -2.7878126 0.34729636 0.43180291
195 5 8 8 9 52.8941009 -34.4137257 151.389881 -132.909506 -0.31818926 0.51763809 2.8636624 -2.75712947 0.51763809 0.42472218
200 5 8 8 9 56.4491288 -31.7888727 154.101512 -129.441256 -0.30653005 0.68404029 2.82285519 -2.71450051 0.68404029 0.41488473
205 5 8 8 9 60.1390889 -29.2816564 156.720533 -125.863101 -0.29169235 0.84523652 2.77092322 -2.66025015 0.84523652 0.40236542
210 5 8 8 9 63.9618391 -26.8851455 159.254114 -122.17742 -0.27378907 1 2.70826174 -2.59479128 1 0.38725953
215 5 8 8 9 67.9148039 -24.5916453 161.710307 -118.387148 -0.25295646 1.14715287 2.63534762 -2.51862207 1.14715287 0.36968202
220 5 8 8 9 71.9952066 -22.3928415 164.097938 -114.495573 -0.22935309 1.28557522 2.5527358 -2.43232222 1.28557522 0.34976667
225 5 8 8 9 76.2003022 -20.2799326 166.426519 -110.506149 -0.20315857 1.41421356 2.46105499 -2.33654852 1.41421356 0.32766504
230 5 8 8 9 80.5276061 -18.2437397 168.706172 -106.422306 -0.17457227 1.53208889 2.36100295 -2.23202987 1.53208889 0.30354535
235 5 8 8 9 84.9751133 -16.2747843 170.94761 -102.247281 -0.14381175 1.63830409 2.25334112 -2.11956171 1.63830409 0.27759116
240 5 8 8 9 89.5415105 -14.3633316 173.16214 -97.9839614 -0.11111111 1.73205081 2.13888889 -2 1.73205081 0.25
245 5 8 8 9 94.2263849 -12.499392 175.361726 -93.6347331 -0.07671923 1.81261557 2.0185173 -1.87425468 1.81261557 0.22098185
250 5 8 8 9 99.0304368 -10.6726815 177.559099 -89.201344 -0.04089784 1.87938524 1.89314245 -1.74328273 1.87938524 0.19075755
255 5 8 8 9 103.955707 -8.8725346 179.767932 -84.6847598 -0.00391958 1.93185165 1.76371851 -1.60808095 1.93185165 0.15955714
260 5 8 8 9 109.005832 -7.08776706 -177.996923 -80.0850125 0.03393414 1.96961551 1.6312305 -1.46967829 1.96961551 0.12761807
265 5 8 8 9 114.186343 -5.30648023 -175.71911 -75.4010276 0.07237523 1.9923894 1.49668671 -1.32912808 1.9923894 0.0951834
270 5 8 8 9 119.505029 -3.5157955 -173.380351 -70.630415 0.11111111 2 1.36111111 -1.1875 2 0.0625
275 5 8 8 9 124.972394 -1.70150158 -170.959901 -65.7692074 0.149847 1.9923894 1.22553551 -1.04587192 1.9923894 0.0298166
280 5 8 8 9 130.602228 0.15241131 -168.43384 -60.8115209 0.18828808 1.96961551 1.09099172 -0.90532171 1.96961551 -0.00261807
285 5 8 8 9 136.412354 2.06436807 -165.77417 -55.7491072 0.2261418 1.93185165 0.95850371 -0.76691905 1.93185165 -0.03455714
290 5 8 8 9 142.425579 4.05603065 -162.947639 -50.5707521 0.26312006 1.87938524 0.82907978 -0.63171727 1.87938524 -0.06575755
295 5 8 8 9 148.670929 6.15340398 -159.914206 -45.2614613 0.29894145 1.81261557 0.70370493 -0.50074532 1.81261557 -0.09598185
300 5 8 8 9 155.18524 8.3883389 -156.625075 -39.8013462 0.33333333 1.73205081 0.58333333 -0.375 1.73205081 -0.125
305 5 8 8 9 162.015168 10.8005931 -153.020145 -34.1640933 0.36603397 1.63830409 0.4688811 -0.25543829 1.63830409 -0.15259116
310 5 8 8 9 169.219671 13.4406752 -149.0248 -28.3148536 0.39679449 1.53208889 0.36121927 -0.14297013 1.53208889 -0.17854535
315 5 8 8 9 176.872877 16.3737744 -144.546002 -22.2073475 0.42538079 1.41421356 0.26116723 -0.03845148 1.41421356 -0.20266504
320 5 8 8 9 -174.933031 19.6851438 -139.467936 -15.7799512 0.45157531 1.28557522 0.16948642 0.05732222 1.28557522 -0.22476667
325 5 8 8 9 -166.085997 23.4872757 -133.648103 -8.95061832 0.47517869 1.14715287 0.0868746 0.14362207 1.14715287 -0.24468202
330 5 8 8 9 -156.455981 27.9288393 -126.916261 -1.6108811 0.49601129 1 0.01396048 0.21979128 1 -0.26225953
335 5 8 8 9 -145.906105 33.2040328 -119.08164 6.37956787 0.51391457 0.84523652 -0.048701 0.28525015 0.84523652 -0.27736542
340 5 8 8 9 -134.323124 39.5574214 -109.958749 15.1930468 0.52875228 0.68404029 -0.10063297 0.33950051 0.68404029 -0.28988473
345 5 8 8 9 -121.680584 47.2715729 -99.4266265 25.0176153 0.54041148 0.51763809 -0.14144017 0.38212947 0.51763809 -0.29972218
350 5 8 8 9 -108.13859 56.6133961 -87.5295977 36.0044042 0.54880345 0.34729636 -0.17081206 0.4128126 0.34729636 -0.30680291
355 5 8 8 9 -94.1413222 67.7141657 -74.5879935 48.1608369 0.55386431 0.17431149 -0.18852509 0.43131638 0.17431149 -0.31107301