DINAMICA DE

MAQUINAS
 i
UNIVERSIDAD NACIONAL DE SAN ANTONIO ABAD
DEL CUSCO
FACULTAD DE INGENIERÍA: ELÉCTRICA,
ELECTRÓNICA, INFORMATICA Y MECÁNICA
ESCUELA PROFESIONAL: INGENIERIA MECANICA

TEMA: METODO ANALITICO DE ANALISIS

CINEMÁTICO DE MECANISMOS
ARTICULADOS
CURSO: DINAMICA DE MAQUINAS

ALUMNO:

Achahui Martínez Kitman Sheen 133930

CUSCO-PERU
2018 – II
 ii

DINAMICA DE MAQUINAS

Un Trabajo Presentado Para El Curso De Dinámica de Maquinas, De La

Universidad Nacional San Antonio Abad Del Cusco

Ingeniería Mecánica.
Octubre 2018.
 iii

Contenido
MÉTODO ANÁLITICO DE ANÁLISIS CINEMÁTICO DE MECANISMOS ARTICULADOS
......................................................................................................................................................... 1
 1

MÉTODO ANÁLITICO DE ANÁLISIS CINEMÁTICO DE MECANISMOS

ARTICULADOS

 Da a conocer un nuevo método analítico para el análisis cinemático de

mecanismos articulados planos que combina métodos de algebra vectorial y del
método de L.V. Assur.
 El mecanismo se presenta compuesto de bloques.
 En varios textos se emplean métodos analíticos, formulan ecuaciones y el
esquema cinemático se representa como una figura geométrica compuestas por
rectas, utilizan ecuaciones en forma cuadrática. Este método define solo la
magnitud de los vectores. Y en otros libros se emplea el algebra vectorial para un
sistema cerrado, es decir estos dos métodos son solo para el análisis de
mecanismos concretos y por ende dificulta formar programas.
 Assur divide un mecanismo en cadenas cinemáticas abiertas con movilidad igual a
uno y con movilidad nula. Y a su vez se dividen en mecanismos de primera clase
(son dos eslabones uno móvil y otro fijo), los de segunda clase (se dividen en
primera variedad, segunda, ..., quinta variedad) y tercera clase.
 Este método para la síntesis y el análisis se diferencian con la clase de
mecanismo.
 Menciona que hay una interpretación errónea relacionada con la disposición y el
movimiento de diferentes puntos del mismo eslabón, para ello aclara que no existe
movimiento entre los puntos ubicados en un mismo cuerpo rígido ya sea de
traslación o rotación, el único movimiento relativo solo hay si el cuerpo dispone
en un sistema de coordenadas xy, o cuando el cuerpo se une con otro par
cinemático. Pero este movimiento es solo respecto al sistema de coordenadas o al
otro punto del cuerpo.
 Se recomienda marcar los puntos de diferentes eslabones, indicar la ubicación de
los puntos con el número de eslabón.
 Los modelos matemáticos tienen una forma universal y flexible, para hacer un
análisis de mecanismo de cualquier complejidad y hacer posible el desarrollo de
un software.
 2

Lazos vectoriales
 3

a+b-e-d-c=0 lazo (1) e+d+f+g-h-i=0 lazo 2

ángulos que varían en el mecanismo: θ2; θ3; θ4; θ5; θ6

ángulos que no varían: θ1; θ7; θ8; θ9 que se encuentra en los e; d; h; i

lazo 1 : 𝑎𝑒 𝛉𝟐𝐢 + 𝑏𝑒 𝛉𝟑𝐢 − 𝑐𝑒 𝛉𝟒𝐢 − 𝑑𝑒 𝛉𝟕𝐢 − 𝑒𝑒 𝛉𝟏𝐢 = 0

lazo 2: 𝑑𝑒 𝛉𝟕𝐢 + 𝑒𝑒 𝛉𝟏𝐢 + 𝑓𝑒 𝛉𝟓𝐢 + 𝑔𝑒 𝛉𝟔𝐢 − ℎ𝑒 𝛉𝟖𝐢 −𝑖𝑒 𝛉𝟗𝐢 = 0

análisis síntesis
𝑒 𝛉𝟐𝐢 = (cos𝜃2 + 𝑖sin 𝜃2)
𝑎(cos𝜃2 + 𝑖sin 𝜃2) + 𝑏(cos𝜃3 +𝑖 sin 𝜃3)
−𝑐(cos𝜃4 + sin 𝑖𝜃4) − 𝑑(cos𝜃7 + 𝑖 sin 𝜃7)-𝑒(cos𝜃1 + 𝑖 sin 𝜃1)=0

𝑑(cos𝜃7 + 𝑖sin 𝜃7) + 𝑒(cos𝜃1 +𝑖 sin 𝜃1)

+𝑓(cos𝜃5 + 𝑖sin 𝜃5) + 𝑔(cos𝜃6 + 𝑖 sin 𝜃6)-ℎ(cos𝜃8 + 𝑖 sin 𝜃8) −
𝑖(cos𝜃9 + 𝑖 sin 𝜃9)=0

Reales
F1=a*cos (θ2) +b*cos(θ3)-c*cos(θ4)-d*cos(θ7)- e*cos(θ1) =0
F2=a*sen (θ2) +b*sen(θ3)-c*sen(θ4)-d*sen(θ7) -e*sen(θ1) =0
imaginarios
F3=d*cos (θ7) +e*cos(θ1) +f*cos(θ5) +g*cos(θ6)-h*cos(θ8)-i*cos(θ9) =0
F4=d*sen (θ7) +e*sen(θ1) +f*sen(θ5) +g*sen(θ6)-h*sen(θ8)-i*sen(θ9) =0

relacion geometrica: θ5=15.6336+θ4

𝜃3 θ4 𝜃6 𝑖
b ∗ cos(θ3) −c ∗ cos(θ4) 0 0
jacobino b ∗ sen(θ3) −c ∗ sen(θ4) 0 0
0 f ∗ cos(θ5) g ∗ cos(θ6) −i ∗ cos(θ9)
( 0 f ∗ sen(θ5) g ∗ sen(θ6) −i ∗ sen(θ9) )

tenemos que derivarlo

 4

𝜃3 θ4 𝜃6 𝑖
−b ∗ sen(θ3) c ∗ sen(θ4) 0 0
jacobinoA= b ∗ cos(θ3) −c ∗ cos(θ4) 0 0
0 −f ∗ sen(θ5) −g ∗ sen(θ6) −cos(θ9)
( 0 f ∗ cos(θ5) g ∗ cos(θ6) −sen(θ6) )

matriz B:
𝐹1
𝐵 = (𝐹2)
𝐹3
𝐹4
−1
𝑥 = [𝐴] ∗ [−𝐵]
Velocidades:
lazo 1 : 𝑎𝑒 𝛉𝟐𝐢 + 𝑏𝑒 𝛉𝟑𝐢 − 𝑐𝑒 𝛉𝟒𝐢 − 𝑑𝑒 𝛉𝟕𝐢 − 𝑒𝑒 𝛉𝟏𝐢 = 0
lazo 2: 𝑑𝑒 𝛉𝟕𝐢 + 𝑒𝑒 𝛉𝟏𝐢 + 𝑓𝑒 𝛉𝟓𝐢 + 𝑔𝑒 𝛉𝟔𝐢 − ℎ𝑒 𝛉𝟖𝐢 −𝑖𝑒 𝛉𝟗𝐢 = 0

tenemos que derivamos

𝑎𝑤2 𝑖𝑒 𝛉𝟐𝐢 + 𝑏𝑤3 𝑖𝑒 𝛉𝟑𝐢 − 𝑐𝑤4 𝑖𝑒 𝛉𝟒𝐢 = 0

𝑓𝑤4 𝑖𝑒 𝛉𝟓𝐢 + 𝑔𝑤6 𝑖𝑒 𝛉𝟔𝐢 −𝑖̇𝑒 𝛉𝟗𝐢 = 0
𝑒 𝛉𝟐𝐢 = (cos𝜃2 + 𝑖sin 𝜃2)
REALES:
R= -a*w2*sen (θ2) +-b*w3*sen(θ3)+c*w4sen(θ4)=0
R=-f*w4*sin (θ5)-g*w6*sin(θ6)- i*cos(θ9)=0

IMAGINARIO:
I= a*w2*cos (θ2) +b*w3cos(θ3)-c*w4cos(θ4)=0
I=f*w4*cos (θ5)+g*w6*cos(θ6)-i*sen(θ9)

𝑎𝑤2 cos 𝜃2
−𝑎𝑤2 cos 𝜃2
𝐵=( )
0
0
 5

𝜃3 θ4 𝜃6 𝑖
−b ∗ sen(θ3) c ∗ sen(θ4) 0 0
jacobino b ∗ cos(θ3) −c ∗ cos(θ4) 0 0
0 −f ∗ sen(θ5) −g ∗ sen(θ6) −cos(θ9)
( 0 f ∗ cos(θ5) g ∗ cos(θ6) −sen(θ6) )
𝑉𝑒 = [𝐴]−1 ∗ [𝐵]

Aceleraciones

lazo 1 : 𝑎𝑒 𝛉𝟐𝐢 + 𝑏𝑒 𝛉𝟑𝐢 − 𝑐𝑒 𝛉𝟒𝐢 − 𝑑𝑒 𝛉𝟕𝐢 − 𝑒𝑒 𝛉𝟏𝐢 = 0

lazo 2: 𝑑𝑒 𝛉𝟕𝐢 + 𝑒𝑒 𝛉𝟏𝐢 + 𝑓𝑒 𝛉𝟓𝐢 + 𝑔𝑒 𝛉𝟔𝐢 − ℎ𝑒 𝛉𝟖𝐢 −𝑖𝑒 𝛉𝟗𝐢 = 0
derivamos respecto al tiempo
𝑎𝑤2 𝑖𝑒 𝛉𝟐𝐢 + 𝑏𝑤3 𝑖𝑒 𝛉𝟑𝐢 − 𝑐𝑤4 𝑖𝑒 𝛉𝟒𝐢 = 0
𝑓𝑤4 𝑖𝑒 𝛉𝟓𝐢 + 𝑔𝑤6 𝑖𝑒 𝛉𝟔𝐢 −𝑖̇𝑒 𝛉𝟗𝐢 = 0
Derivamos una vez más para calcular las aceleraciones

−𝑎𝑤22 𝑒 𝛉𝟐𝐢 +𝑎𝛼2 𝑖𝑒 𝛉𝟐𝐢 − 𝑏𝑤32 𝑒 𝛉𝟑𝐢 + 𝑏𝛼3 𝑒 𝛉𝟑𝐢 +𝑐𝑤42 𝑒 𝛉𝟒𝐢 −𝑐𝛼4 𝑖𝑒 𝛉𝟑𝐢 = 0
−𝑓𝑤42 𝑒 𝛉𝟓𝐢 + 𝑓𝛼4 𝑖𝑒 𝛉𝟓𝐢 − 𝑔𝑤62 𝑒 𝛉𝟔𝐢 + 𝑔𝛼6 𝑒 𝛉𝟔𝐢 −𝑖̈𝑒 𝛉𝟗𝐢 = 0
𝑒 𝛉𝟐𝐢 = (cos𝜃2 + 𝑖sin 𝜃2)
𝑎𝛼2 𝑠𝑖𝑛𝑎𝜃2 + 𝑎𝑤22 cos 𝜃2 + 𝑏𝑤23 cos 𝜃3 − 𝑐𝑤24 cos 𝜃4
−𝑎𝛼2 𝑐𝑜𝑠𝜃2 + 𝑎𝑤22 sin 𝜃2 + 𝑏𝑤23 sin 𝜃3 − 𝑐𝑤24 sin 𝜃4
𝐵=
𝑓 ∗ 𝑤2 2 2
4 cos 𝜃5 + 𝑔𝑤6 cos 𝜃64
( 𝑓 ∗ 𝑤2 2 2
4 sin 𝜃5 + 𝑔𝑤6 sin 𝜃64 )
𝑎𝛼2 𝑠𝑖𝑛𝑎𝜃2 + 𝑎𝑤22 cos 𝜃2 + 𝑏𝑤23 cos 𝜃3 − 𝑐𝑤24 cos 𝜃4
−𝑎𝛼2 𝑐𝑜𝑠𝜃2 + 𝑎𝑤22 sin 𝜃2 + 𝑏𝑤23 sin 𝜃3 − 𝑐𝑤24 sin 𝜃4
A=2𝑞
𝑓 ∗ 𝑤2 2
4 cos 𝜃5 + 𝑔𝑤6 cos 𝜃64
2

( 𝑓 ∗ 𝑤2 2
4 sin 𝜃5 + 𝑔𝑤6 sin 𝜃64
2
)

𝑉𝑒 = [𝐴]−1 ∗ [𝐵]

Reales
 6

Utilizando la herramienta Matlab para facilitar los cálculos e

posicionamiento tenemos el scrib:

hemos ingresado la ecuación y las matrices del posicionamiento por lo

tanto nos resulta la posición que tendrá nuestro mecanismo en diferentes
posiciones del eslabón dos con un error de 0.00000001
7
8
9
10
 11

tetha2 theta 3 ° theta 4° theta6° piston ii cm

35 3.039716606 68.21191748 188.8369175 20.76000895
40 2.330721632 69.25281265 188.9329202 21.83103921
45 1.711000186 70.42090651 189.0196051 23.04091591
50 1.17813665 71.70070975 189.0889649 24.37302925
55 0.729687355 73.0771323 189.1336129 25.81270406
60 0.363304603 74.53558111 189.1470147 27.34525593
65 0.076822077 76.06201114 189.1236634 28.95600323
70 -0.131691094 77.64294331 189.0592036 30.63028059
75 -0.263901579 79.26546015 188.9505104 32.35346459
80 -0.321203501 80.91718847 188.7957285 34.1110184
85 -0.304726748 82.58627607 188.5942766 35.88855934
90 -0.215359096 84.2613679 188.3468185 37.6719501
95 -0.053780082 85.93158589 188.0552075 39.4474115
100 0.179494901 87.58651541 187.7224042 41.20165266
105 0.484061524 89.21620011 187.3523733 42.92201199
110 0.859565539 90.81114629 186.9499607 44.59660143
115 1.305635085 92.3623367 186.5207561 46.21444538
120 1.821807671 93.86125303 186.0709425 47.76560547
125 2.407453562 95.29990531 185.6071391 49.24128285
130 3.061697655 96.67086572 185.1362396 50.63389092
135 3.783342287 97.96730375 184.6652522 51.93709281
140 4.570793647 99.18301899 184.2011442 53.1458002
145 5.421993878 100.3124688 183.7506962 54.25805761
150 6.334365161 101.3507814 183.3203759 55.26692751
155 7.304758958 102.2937662 182.9162193 56.17299156
160 8.32942455 103.1378985 182.5437448 56.97431548
165 9.403982738 103.8802954 182.2078782 57.67308534
170 10.52342337 104.5186705 181.9129143 58.26839687
175 11.68210475 105.0512784 181.6624881 58.76101722
180 12.87376793 105.4768447 181.4595722 59.15190665
185 14.0915578 105.7944885 181.3064891 59.44205587
190 15.32804931 106.003639 181.2049357 59.63233885
195 16.57527644 106.1039514 181.156016 59.72338488
200 17.82476182 106.0952265 181.1602764 59.71547231
205 19.06754533 105.9773363 181.21774 59.60844554
210 20.29421116 105.7501605 181.3279356 59.40165617
215 21.49491323 105.4135355 181.4899171 59.09392921
220 22.6594002 104.9672207 181.7022721 58.68355577
 12

225 23.77704204 104.4108832 181.9631158 58.168314

230 24.83686148 103.7441049 182.2700698 57.54552179
235 25.82757448 102.9664148 182.6202253 56.81212557
240 26.73764517 102.0773507 183.0100912 55.96483118
245 27.55536191 101.0765547 183.435529 55.00028419
250 28.26894198 99.96390618 183.8916794 53.91530757
255 28.86667363 98.739699 184.3728867 52.70720483
260 29.33710435 97.4048656 184.8726311 51.37413484
265 29.66928421 95.96125271 185.383483 49.91556094
270 29.85307218 94.41195185 185.8970968 48.33625815
275 29.87950572 92.76166126 186.4042753 46.63375477
280 29.74124055 91.01711378 186.8951107 44.81755574
285 29.43303883 89.18749153 187.3592533 42.89789369
290 28.95229162 87.28483504 187.7863098 40.88903015
295 28.29953563 85.32438416 188.1663856 38.8095659
300 27.47891333 83.32479378 188.4907522 36.6824972
305 26.49851199 81.30815772 188.7525936 34.53494114
310 25.37050872 79.29976852 188.9477471 32.38615069
315 24.11108233 77.32762467 189.0753296 30.30313833
320 22.73997866 75.42149626 189.1381168 28.28601181
325 21.27984447 73.6118736 189.1425787 26.36997332
330 19.75525675 71.92860685 189.0985039 24.60762599
335 18.1915891 70.3995004 189.0182173 23.02264454
340 16.61385716 69.04903685 188.915516 21.62344568
345 15.04561352 67.89730115 188.8044281 20.43649293
350 13.50806369 66.95927408 188.6980148 19.47434927
355 12.01944609 66.24452167 188.6073522 18.74408471
360 10.59471216 65.75727403 188.5408099 18.24772211
365 9.245485875 65.49682901 188.5036691 17.98289896
370 7.98024985 65.45818508 188.498065 17.94363536
375 6.804689444 65.63279985 188.5231958 18.1211133
380 5.722125413 66.009381 188.5757186 18.5043975
385 4.733976721 66.57463874 188.650255 19.08070923
390 3.840203209 67.3139496 188.7399305 19.83647579
395 3.039716737 68.21191745 188.8369177 20.75804089
400 2.330721632 69.25281265 188.9329202 21.83103921
405 1.711000186 70.42090651 189.0196051 23.04091591
 13

tetha2 w3 rad/s w4 rad/s w5 rad/s vii cm/s

35 -0.150879527 0.194412564 0.019578835 11.857432
40 -0.132793091 0.221420594 0.018543307 13.49300229
45 -0.115176514 0.245300298 0.01586281 14.9263211
50 -0.098050722 0.266117881 0.011634155 16.15782779
55 -0.081407501 0.28396476 0.006006659 17.19014147
60 -0.065217961 0.298946755 -0.000829896 18.02776032
65 -0.049439482 0.311176175 -0.008656038 18.67681761
70 -0.034021346 0.320766345 -0.01723216 19.14485996
75 -0.018909268 0.327828168 -0.026306975 19.4406271
80 -0.004049069 0.332468267 -0.035625028 19.57382472
85 0.010610309 0.334788395 -0.044933411 19.55489076
90 0.025114264 0.334885792 -0.05398776 19.39476147
95 0.039500352 0.332854241 -0.062557615 19.10464659
100 0.053796376 0.32878561 -0.070431142 18.6958233
105 0.068018696 0.322771672 -0.077419236 18.17945729
110 0.08217076 0.314906031 -0.083358955 17.56645641
115 0.096241895 0.305285959 -0.088116262 16.86735879
120 0.110206402 0.294013989 -0.091587999 16.09225384
125 0.12402303 0.28119907 -0.093703049 15.25073115
130 0.137634912 0.266957164 -0.094422625 14.3518501
135 0.150970012 0.251411151 -0.093739633 13.40412179
140 0.163942119 0.234689989 -0.091677118 12.41549481
145 0.176452378 0.216927121 -0.088285802 11.39333785
150 0.188391317 0.19825821 -0.083640802 10.34441511
155 0.199641212 0.178818322 -0.077837711 9.274850678
160 0.210078706 0.158738792 -0.070988182 8.190085796
165 0.219577451 0.13814396 -0.063215323 7.094829477
170 0.228010626 0.117148115 -0.054649149 5.993011397
175 0.23525315 0.095852789 -0.045422366 4.887739341
180 0.241183463 0.074344651 -0.035666724 3.781269622
185 0.245684827 0.052694131 -0.025510121 2.67499414
190 0.248646099 0.030954831 -0.015074592 1.569447442
195 0.249962054 0.009163742 -0.004475217 0.464335484
200 0.249533331 -0.012657749 0.006180042 -0.641413406
205 0.247266147 -0.034502157 0.016789651 -1.749575411
210 0.243071944 -0.056373521 0.027257049 -2.862535799
215 0.236867155 -0.078284448 0.037488559 -3.983170017
220 0.228573286 -0.100252573 0.047390781 -5.114698338
 14

225 0.218117519 -0.122296439 0.056867648 -6.260508668

230 0.205434066 -0.14443076 0.065817284 -7.423939143
235 0.190466482 -0.166660971 0.074128882 -8.60800891
240 0.173171185 -0.188976968 0.081679854 -9.815082292
245 0.153522395 -0.21134595 0.088333595 -11.0464489
250 0.131518712 -0.233704259 0.093938299 -12.30180117
255 0.107191461 -0.255948261 0.098327431 -13.57859262
260 0.080614857 -0.277924392 0.101322596 -14.87126707
265 0.051917817 -0.299418779 0.102739666 -16.17036394
270 0.02129698 -0.320147139 0.102399104 -17.46153031
275 -0.010970038 -0.339746183 0.100141185 -18.7245174
280 -0.044512383 -0.357768116 0.095846658 -19.93228052
285 -0.078857015 -0.3736806 0.089462122 -21.05039638
290 -0.113425545 -0.386874753 0.081028427 -22.0370585
295 -0.147539933 -0.396683879 0.070708416 -22.8439693
300 -0.180439937 -0.402415063 0.058808497 -23.4184263
305 -0.211314252 -0.403394225 0.045787157 -23.70677708
310 -0.239345448 -0.399022833 0.032243519 -23.65916605
315 -0.263765632 -0.388841078 0.018881713 -23.23511332
320 -0.283917808 -0.372589664 0.006450092 -22.40913097
325 -0.299312747 -0.350259133 -0.00433635 -21.17520745
330 -0.309673142 -0.322117098 -0.012879498 -19.54915
335 -0.314955977 -0.288705712 -0.018770762 -17.56805639
340 -0.315348656 -0.250807794 -0.021838019 -15.28690507
345 -0.311239876 -0.209386102 -0.022158316 -12.77295061
350 -0.303171052 -0.165506153 -0.020035378 -10.09913024
355 -0.2917775 -0.1202552 -0.015949402 -7.337764405
360 -0.277729261 -0.074669422 -0.010491314 -4.55556157
365 -0.26167968 -0.029677878 -0.004294581 -1.810427937
370 -0.244226689 0.01393289 0.002024863 0.849925762
375 -0.225888342 0.055534079 0.007914312 3.387942682
380 -0.207091506 0.094653139 0.012913641 5.775254383
385 -0.188170966 0.130960471 0.016669603 7.991279381
390 -0.169375728 0.16424927 0.018938217 10.02175666
395 -0.150879527 0.194412563 0.019578835 11.85743197
400 -0.132793091 0.221420594 0.018543307 13.49300229
405 -0.115176514 0.245300298 0.01586281 14.9263211
 15

tetha2 alfa3 rad/s^2 alfa4 rad/s^2 alfa6 rad/s^2 aii cm/s^2

35 0.041051149 0.458013516 0.010885658 27.80270901
40 0.054206719 0.446563849 -0.008430057 26.99187286
45 0.067157118 0.434689518 -0.02826733 26.10964602
50 0.080076552 0.422428425 -0.04800856 25.1559613
55 0.093080168 0.409744209 -0.067115504 24.1295759
60 0.106238604 0.396556769 -0.08512156 23.02991337
65 0.11958885 0.382764387 -0.101625674 21.85818011
70 0.133141796 0.36825927 -0.116288262 20.61791271
75 0.146887052 0.352938212 -0.128828916 19.31509879
80 0.160795674 0.336709818 -0.139025328 17.95799197
85 0.174821398 0.31949934 -0.146712816 16.55671825
90 0.188900909 0.301251909 -0.15178387 15.12275047
95 0.2029536 0.281934618 -0.154187275 13.66831051
100 0.21688122 0.261537733 -0.153926514 12.20574552
105 0.230567754 0.240075113 -0.15105726 10.74691524
110 0.243879822 0.217583837 -0.145683874 9.302620746
115 0.256667823 0.194122953 -0.137954903 7.882101018
120 0.26876795 0.169771264 -0.128057592 6.492619934
125 0.280005144 0.144624123 -0.116211478 5.139163366
130 0.290196868 0.118789253 -0.102661198 3.824261097
135 0.299157526 0.092381756 -0.087668677 2.547942004
140 0.306703177 0.06551857 -0.071504991 1.307822462
145 0.312656153 0.038312741 -0.054442252 0.099318096
150 0.316849131 0.010867958 -0.036745968 -1.084040137
155 0.319128248 -0.016726228 -0.018668332 -2.25021533
160 0.319354965 -0.044398058 -0.0004429 -3.408230784
165 0.317406521 -0.072095878 0.017719011 -4.56773124
170 0.313174977 -0.099788814 0.035629927 -5.738565185
175 0.306565086 -0.127465951 0.05312583 -6.930418318
180 0.297491302 -0.155133993 0.070063845 -8.152506678
185 0.285874364 -0.182813629 0.086318233 -9.413332021
190 0.271637952 -0.210534759 0.10177502 -10.72048817
195 0.254705857 -0.238330744 0.116325607 -12.08049701
200 0.235000134 -0.266231734 0.129859711 -13.49864475
205 0.212440623 -0.294257046 0.142257955 -14.97878329
210 0.186946236 -0.32240643 0.153384397 -16.523058
215 0.158438385 -0.350649985 0.163079295 -18.13152071
220 0.126846974 -0.378916374 0.171152449 -19.80158568
 16

225 0.092119424 -0.407078999 0.177377586 -21.52728653

230 0.054233288 -0.434939761 0.181488467 -23.29829423
235 0.013213031 -0.46221022 0.183177718 -25.09866331
240 -0.030848431 -0.488490194 0.182099787 -26.90528853
245 -0.077763015 -0.513244332 0.177879988 -28.68608342
250 -0.12721551 -0.535777995 0.17013207 -30.39794357
255 -0.178727038 -0.555214919 0.158487231 -31.9846401
260 -0.231615826 -0.570480766 0.14263753 -33.37491295
265 -0.284959011 -0.580298754 0.12239601 -34.48120434
270 -0.337561708 -0.583205844 0.097773879 -35.19968256
275 -0.387942825 -0.577600049 0.069071003 -35.41242745
280 -0.43434948 -0.561830299 0.036970461 -34.99279576
285 -0.474814743 -0.534338373 0.002618437 -33.81495759
290 -0.507271334 -0.493856031 -0.032337081 -31.76817758
295 -0.529728219 -0.439647861 -0.065781947 -28.77546866
300 -0.540503758 -0.371771665 -0.095276486 -24.81468203
305 -0.538489527 -0.291306671 -0.118315563 -19.9381477
310 -0.523396979 -0.200482978 -0.132690213 -14.28528673
315 -0.495923592 -0.102645781 -0.136889883 -8.082300151
320 -0.457776498 -0.002009123 -0.130448801 -1.624713086
325 -0.411518225 0.096787537 -0.114127273 4.756556747
330 -0.360246351 0.189250764 -0.089855212 10.73981128
335 -0.307171883 0.271606018 -0.060432388 16.05715185
340 -0.255196454 0.34123536 -0.029061509 20.52756077
345 -0.206586228 0.396883761 0.001158514 24.07081293
350 -0.162805303 0.438607906 0.027650392 26.70085487
355 -0.124516658 0.467517836 0.048605452 28.50367911
360 -0.091712233 0.485407304 0.063043659 29.60806069
365 -0.063910389 0.494374425 0.070725188 30.15731304
370 -0.04036131 0.496507655 0.071977946 30.28748755
375 -0.020219582 0.493672759 0.067503019 30.11402801
380 -0.002665936 0.487401666 0.05820124 29.72621605
385 0.013021901 0.478862912 0.045041655 29.18735079
390 0.027439103 0.468885907 0.028975069 28.53833177
395 0.041051149 0.458013516 0.010885659 27.80270903
400 0.054206719 0.446563849 -0.008430057 26.99187286
405 0.067157118 0.434689518 -0.02826733 26.10964602