You are on page 1of 6

a

m2
1

m3
5

I2
3.4

m4

m5

10
I3

0.42

3
omega2

128

fp
5

alpha2
15

e
200

0.5

CG3
0

theta2deg theta2rad b
theta4
120 2.094395 3.026549 0.290199

M1
0.958187 -0.866025
0.286143
2.9

(Inverse)
0.958187 0.286143
-0.094544 0.316594
bdot
omega4

-14.59329
-1.146288

bddot
alpha4

56.01628
-83.3806

M2
-12.99038
-7.5

30000

M3
125.8838
20000
-225.7751
10000

M10
120
0.958187
-10000
0.286143

140 0

160

-1

(Inverse)
180
1.043638
0.298629

c
f

0
0.866025

M3
12.99038
7.5

cdot
fdot

13.55725
-3.62069

M4
-121.3936
224.6372

cddot
fddot

-126.6909
-260.8889

-20000

M2
200
0

-1

220

240
0

-0.866025

-30000

A2x
A3x
A4x

56.25 A2y
22.59973 A3y
-112.5 A4y

-97.42786
-80.27019
-194.8557

r13x
r13y
r43x

-0.958187 r42x
-0.286143 r42y
1.941813 r12x

-0.25
0.433013
0.25

A5x

0 A5y

-260.8889

r43y
r53x
r53y

0.579883 r12y
1.941813
0.579883

-0.433013

MF1
-1
0
0
0
0
-1
0
0
0
0
1
0
0
0 0.298629
1
-1
0 0.298629
0
0
-1
1
0
-0.579883 1.941813 1.768643
0
0
0
0
1
0
0
0
0
0
0
0 -0.433013
MF1(Inverse)
-1
0
-5.72E-17
-1
-0.966647 3.236944
0.288669 -0.966647
0.966647 -3.236944
0.711331 0.966647
0.966647 -4.236944
-0.288669 0.966647
-0.966647 3.236944
6.94E-18
0

0
0
0
0
1
0
0
0
-1
0

0
0
0
1
0
0
0
-1
0
0

MF2
0
-1455.394
-555.1371
-337.5
225.9973
-704.6019
-10672.72
281.25
-438.0893
0

f35x
f35y
f34y
f24x
f24y
f13x
f13y
f12x
f12y
t12

0
1455.394
-15798.02
4380.254
15242.88
-4943.751
16548.81
-4099.004
-15680.97
231.3071

0
0
0
0
0
0
0
0
1
0
0
0
0
0
0
0
0
-1
0
0
0
0
1
0
0 0.286143 0.958187
0
0
0
0
1
1
0
0
0
0.25
0
0 -0.433013

0
0
0.319389
-0.095379
-0.319389
-0.904621
-0.319389
0.095379
0.319389
1.73E-18

0
2.29E-16
-1.069516
0.319389
1.069516
-0.319389
2.069516
-0.319389
-1.069516
0

0
0
-2.29E-16
0
1.116188
0
-0.333326
0
-1.116188
0
0.333326
0
-1.116188
0
0.333326
1
1.116188
0
0 0.433013

theta2deg f35x
120
122
124
126
128
130
132
134
136
138
140
142
144
146
148
150
152
154
156
158
160
162
164
166
168
170
172
174
176
178
180
182
184
186
188
190
192
194
196
198
200
202
204
206

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

f35y
1455.394
1455.394
1480.587
1503.121
1522.662
1538.867
1551.39
1559.885
1564.013
1563.442
1557.857
1546.961
1530.485
1508.19
1479.877
1445.386
1404.61
1357.492
1304.038
1244.311
1178.443
1106.631
1029.141
946.3064
858.5256
766.2607
670.0323
570.4137
468.0245
363.5224
257.5951
150.95
44.3049
-61.62244
-166.1245
-268.5137
-368.1323
-464.3607
-556.6256
-644.4064
-727.2412
-804.7312
-876.543
-942.4111
-1002.138

f34y
-15798.02
-15798.02
-16646.95
-17517.21
-18404.66
-19304.12
-20209.28
-21112.53
-22004.83
-22875.5
-23712.13
-24500.44
-25224.13
-25864.88
-26402.31
-26814.14
-27076.36
-27163.67
-27050.04
-26709.54
-26117.36
-25251.12
-24092.4
-22628.37
-20853.5
-18771.19
-16395.05
-13749.72
-10871.01
-7805.218
-4607.522
-1339.638
1933.218
5145.687
8235.648
11147.26
13833.39
16257.24
18393.08
20226.2
21752.11
22975.32
23907.7
24566.85
24974.43

f24x
4380.254
4380.254
4561.125
4734.623
4897.89
5047.791
5180.922
5293.639
5382.103
5442.334
5470.292
5461.98
5413.571
5321.568
5182.991
4995.591
4758.099
4470.48
4134.211
3752.53
3330.666
2875.998
2398.108
1908.71
1421.401
951.2235
514.0306
125.6785
-198.9096
-446.7256
-607.6057
-675
-646.4841
-523.947
-313.4276
-24.62543
329.8518
735.4052
1176.421
1637.206
2102.801
2559.626
2995.925
3402.026
3770.431

f24y
15242.88
15242.88
16103.95
16987.04
17888
18801.64
19721.63
20640.34
21548.7
22436.03
23289.9
24095.99
24837.99
25497.55
26054.29
26485.87
26768.29
26876.21
26783.57
26464.43
25893.93
25049.69
23913.25
22471.74
20719.63
18660.28
16307.27
13685.21
10829.89
7787.563
4613.395
1369.068
-1880.231
-5069.172
-8135.661
-11023.89
-13686.75
-16087.47
-18200.35
-20010.71
-21514.1
-22715.02
-23625.41
-24262.87
-24649.1

f13x
-4943.751
-4943.751
-5143.531
-5333.841
-5511.662
-5673.7
-5816.402
-5935.988
-6028.498
-6089.854
-6115.947
-6102.742
-6046.417
-5943.524
-5791.181
-5587.299
-5330.822
-5021.997
-4662.64
-4256.394
-3808.949
-3328.192
-2824.256
-2309.433
-1797.907
-1305.305
-848.0386
-442.4784
-103.9995
154.0179
321.1331
390.625
360.0115
231.2393
10.51854
-292.1745
-663.8599
-1089.487
-1552.927
-2037.928
-2528.95
-3011.82
-3474.208
-3905.891
-4298.86

0
0
0
0
0
0
0
0
1
0.25

0
0
0
0
0
0
0
0
0
1

0
0
0
0
0
0
0
0
1
-0.25

0
0
0
0
0
0
0
0
0
1

208
210
212
214
216
218
220
222
224
226
228
230
232
234
236
238
240

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

-1055.592
-1102.71
-1143.486
-1177.977
-1206.29
-1228.585
-1245.061
-1255.957
-1261.542
-1262.113
-1257.985
-1249.49
-1236.967
-1220.762
-1201.221
-1178.687
-1153.494

25154.64
25132.93
24934.95
24585.7
24108.97
23526.92
22859.82
22125.96
21341.63
20521.13
19676.93
18819.74
17958.69
17101.45
16254.42
15422.84
14610.95

4095.764
4374.625
4605.373
4787.872
4923.227
5013.528
5061.605
5070.814
5044.852
4987.595
4902.973
4794.863
4667.015
4522.985
4366.101
4199.429
4025.759

-24808.32
-24766
-24547.82
-24178.82
-23682.79
-23081.92
-22396.51
-21644.87
-20843.3
-20006.15
-19145.88
-18273.23
-17397.35
-16525.94
-15665.39
-14820.98
-13996.95

-4647.281
-4947.349
-5197.081
-5396.062
-5545.183
-5646.374
-5702.367
-5716.469
-5692.372
-5633.99
-5545.322
-5430.344
-5292.924
-5136.757
-4965.319
-4781.834
-4589.257

f13y
16548.81
16548.81
17401.52
18273.47
19160.4
20057.04
20957.01
21852.67
22734.94
23593.21
24415.12
25186.51
25891.23
26511.16
27026.16
27414.2
27651.6
27713.36
27573.78
27207.25
26589.29
25697.8
24514.61
23027.09
21229.87
19126.4
16730.3
14066.15
11169.64
8086.84
4872.712
1588.688
-1700.308
-4929.209
-8036.171
-10965.6
-13670.54
-16114.35
-18271.35
-20126.82
-21676.22
-22923.89
-23881.52
-24566.46
-25000.07

f12x
-4099.004
-4099.004
-4263.046
-4420.077
-4567.261
-4701.481
-4819.354
-4917.253
-4991.358
-5037.706
-5052.273
-5031.08
-4970.315
-4866.496
-4716.657
-4518.564
-4270.959
-3973.822
-3628.639
-3238.66
-2809.125
-2347.421
-1863.139
-1368.001
-875.61
-401.0155
39.9238
431.3473
758.3281
1007.855
1169.763
1237.5
1208.641
1085.077
872.8462
581.6512
224.1025
-185.1972
-630.6296
-1096.496
-1567.832
-2031.049
-2474.384
-2888.157
-3264.859

f12y
-15680.97
-15680.97
-16531.92
-17404.33
-18294.02
-19195.84
-20103.48
-21009.31
-21904.28
-22777.73
-23617.24
-24408.5
-25135.25
-25779.13
-26319.78
-26734.9
-27000.49
-27091.23
-26981.11
-26644.16
-26055.6
-25193.03
-24038.02
-22577.74
-20806.67
-18728.18
-16355.89
-13714.44
-10839.63
-7777.751
-4583.976
-1320.018
1948.912
5157.46
8243.508
11151.22
13833.48
16253.47
18385.48
20214.81
21736.97
22956.46
23885.17
24540.71
24944.74

t12
231.3071
231.3071
239.7896
247.0563
253.0692
257.7966
261.2128
263.2989
264.0422
263.4369
261.4837
258.1899
253.5697
247.6435
240.4383
231.9874
222.3304
211.5125
199.5851
186.6048
172.6335
157.7381
141.9899
125.4648
108.2424
90.40561
72.04076
53.23668
34.08451
14.67718
-4.891052
-24.525
-44.12907
-63.60769
-82.86581
-101.8093
-120.3456
-138.3838
-155.8354
-172.6147
-188.6393
-203.83
-218.1119
-231.4142
-243.6709

-25206.23
-25210.07
-25036.92
-24711.45
-24257.15
-23695.92
-23047.78
-22330.85
-21561.24
-20753.15
-19918.97
-19069.38
-18213.51
-17359.1
-16512.58
-15679.31
-14863.64

-3599.106
-3887.486
-4128.346
-4321.538
-4468.155
-4570.272
-4630.705
-4652.795
-4640.223
-4596.85
-4526.587
-4433.295
-4320.705
-4192.356
-4051.555
-3901.349
-3744.509

25121.45
25096.3
24894.95
24542.41
24062.47
23477.28
22807.12
22070.3
21283.1
20459.83
19612.95
18753.18
17889.66
17030.06
16180.78
15347.06
14533.14

-254.8211
-264.8089
-273.5842
-281.1026
-287.3258
-292.2216
-295.7644
-297.9349
-298.7205
-298.1152
-296.1197
-292.7415
-287.9948
-281.9001
-274.4847
-265.7821
-255.8321