|r1|=

5 In

|r5|=

6.5 In

|r2|=

3 In

q2=

110 grados

|r3|=

7 In

w 2=

|r3|=

5 In

a2=

120 RPM
2
25 rad/s

|r4|=

4 In

y=

30 grados

|r4|=

2.5 In

l=

25 grados

|rs|=
q3=
q3=
q4=
q4=
q5=

6.65286437
8.88073907
338.880739
77.1437598
52.1437598
342.321579

In
grados
grados
grados
grados
grados

Datos preeliminares
w3=
w4=
w5=
a3=
a4=
a5=

Coordenadas de nodos
-1.026 i+
5.890 i+
6.534 i+
12.727 i+
3.638 i+
5 i+

A=
B=
C=
D=
E=
O4=

VA=
VB=
VC=
VD=
VE=

2.819
3.900
1.974
0
1.018
0

j
j
j
j
j
j

Vectores de velocidad
-35.4255772 i+
-12.893856
-38.8247826 i+
8.86085975
-19.651526 i+
15.2742052
-24.5198088 i+
0
-29.758749 i+
1.77738641

j
j
j
j
j

3.14552562
9.95577275
-2.46634877
10.4316744
-25.6596889
36.0091916

rad/s
rad/s
rad/s
rad/s
rad/s
rad/s

O2(
A(
B(
O4(
C(
D(

0
-1.026
5.890
5
6.534
12.727

6
4

Axis Title

-3

0
-1

1
-2
-4
-6

0
2.819
3.900
0
1.974
0

)
)
)
)
)
)

Axis Title

11

13

15
Series1

Linear (Series1)

17