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Presentado a:
Ing Edgar Arcos
0 -1 0 X1
1 0 0 0
1 =
0 0 1 0
0 0 0 1
1 0 0 Y1 C-90 -S-90 0 0
0 1 0 0
S-90 C-90 0 0
21 =
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
0 1 0 Y1
-1 0 0 0
21 =
0 0 1 0
0 0 0 1
1 0 0 X2 C130 -S130 0 0
0 1 0 0
S130 C130 0 0
32 =
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
-0,643 -0,766 0 X2
0,766 -0,643 0 0
32 =
0 0 1 0
0 0 0 1
1 0 0 X2 C130 -S130 0 0
0 1 0 0
S130 C130 0 0
43 =
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
0,643 0,766 0 H1
-0,766 0,643 0 0
43 =
0 0 1 0
0 0 0 1
1 0 0 X3 C90 -S90 0 0
0 1 0 0
S90 C90 0 0
54 =
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
0 -1 0 X3
1 0 0 0
54 =
0 0 1 0
0 0 0 1
1
0 1 0
-1 0 0 0
598 =
0 0 -1 0
0 0 0 1
1
0 -1 0
1 0 0 0
(598 )1 = 98
5
=
0 0 -1 0
0 0 0 1
C180 -S180 0 0 1
0 1 0
0
S180 C180 0
698 = -1 0 0 0
0 0 1 0
0 0 -1 0
0 0 0 1
0 0 0 1
1
0 -1 0
1 0 0 0
698 =
0 0 -1 0
0 0 0 1
65 =98
5
698
1 1
0 -1 0 0 -1 0
1 0 0 0 1 0 0 0
65 = 0 0 -1 0
0 0 -1 0
0 0 0 1 0 0 0 1
1
-1 0 0
1
0 -1 0
65 =
0 0 1 0
0 0 0 1
C-90 -S-90 0 0 1 0 0 Y2
S-90 C-90 0 0 0 1 0 0
6 =
0 0 1 0 0 0 1 0
0 0 0 1 0 0 0 1
0 1 0 -Y2
-1 0 0 0
6 =
0 0 1 0
0 0 0 1
0 -1 0 -Y2
1 0 0 0
(6 )1 = (6 )=
0 0 1 0
0 0 0 1