Ecuación 1.docx
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Ecuación 1 cos 𝜃𝑖 𝑠𝑒𝑛 𝜃𝑖 𝐴𝑖 = [ 0 0
−𝑐𝑜𝑠αi ∗ sen𝜃𝑖 𝑐𝑜𝑠αi ∗ cos𝜃𝑖 senαi 0
𝑠𝑒𝑛αi ∗ sen𝜃𝑖 −𝑠𝑒𝑛αi ∗ cos𝜃𝑖 𝑐𝑜𝑠αi 0
Ecuación 2 cos 𝜃2 0 𝑠𝑒𝑛 𝜃2 𝑎1𝑐𝑜𝑠 𝜃2 𝑠𝑒𝑛 𝜃2 0 −𝑐𝑜𝑠 𝜃2 𝑎1𝑠𝑒𝑛 𝜃2 1𝐴2 = [ ] 0 −1 0 0 0 0 0 1 Ecuación 3 cos 𝜃3 0 𝑠𝑒𝑛 𝜃3 𝑎1𝑐𝑜𝑠 𝜃3 𝑠𝑒𝑛 𝜃3 0 −𝑐𝑜𝑠 𝜃3 𝑎1𝑠𝑒𝑛 𝜃3 2 𝐴3 = [ ] 0 −1 0 0 0 0 0 1 Ecuación 4 cos 𝜃4 0 𝑠𝑒𝑛 𝜃4 𝑎1𝑐𝑜𝑠 𝜃4 𝑠𝑒𝑛 𝜃4 0 −𝑐𝑜𝑠 𝜃4 𝑎1𝑠𝑒𝑛 𝜃4 3 𝐴4 = [ ] 0 −1 0 0 0 0 0 1
𝑎i ∗ cos𝜃𝑖 𝑎𝑖 ∗ 𝑠𝑒𝑛 𝜃1 ] 0 1
−𝑐𝑜𝑠αi ∗ sen𝜃𝑖 𝑐𝑜𝑠αi ∗ cos𝜃𝑖 senαi 0
𝑠𝑒𝑛αi ∗ sen𝜃𝑖 −𝑠𝑒𝑛αi ∗ cos𝜃𝑖 𝑐𝑜𝑠αi 0
Ecuación 2 cos 𝜃2 0 𝑠𝑒𝑛 𝜃2 𝑎1𝑐𝑜𝑠 𝜃2 𝑠𝑒𝑛 𝜃2 0 −𝑐𝑜𝑠 𝜃2 𝑎1𝑠𝑒𝑛 𝜃2 1𝐴2 = [ ] 0 −1 0 0 0 0 0 1 Ecuación 3 cos 𝜃3 0 𝑠𝑒𝑛 𝜃3 𝑎1𝑐𝑜𝑠 𝜃3 𝑠𝑒𝑛 𝜃3 0 −𝑐𝑜𝑠 𝜃3 𝑎1𝑠𝑒𝑛 𝜃3 2 𝐴3 = [ ] 0 −1 0 0 0 0 0 1 Ecuación 4 cos 𝜃4 0 𝑠𝑒𝑛 𝜃4 𝑎1𝑐𝑜𝑠 𝜃4 𝑠𝑒𝑛 𝜃4 0 −𝑐𝑜𝑠 𝜃4 𝑎1𝑠𝑒𝑛 𝜃4 3 𝐴4 = [ ] 0 −1 0 0 0 0 0 1
𝑎i ∗ cos𝜃𝑖 𝑎𝑖 ∗ 𝑠𝑒𝑛 𝜃1 ] 0 1
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