COLUMNA 1

DATOS:

L= 3.7
E= 217370.6512 E=15000SQR210
I= 0.000675
A= 0.09
α= 90 (Grados)

i= 1
NUDOS
j= 2

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

5287.394218 79.3109133 158.621827 64.3061459 34.7600789

5287.394218 0 0 -5287.39422 0 0
0 34.7600789 64.3061459 0 -34.7600789 64.3061459
0 64.3061459 158.621827 0 -64.3061459 79.3109133
K=
-5287.394218 0 0 5287.39422 0 0
0 -34.7600789 -64.3061459 0 34.7600789 -64.3061459
0 64.3061459 79.3109133 0 -64.3061459 158.621827

Matriz de transformación:

Seno(α) Cos(α)
1 0.000

0.000 1 0 0 0 0
-1 0.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 0.000 1 0
0 0 0 -1 0.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

3.238921E-13 -34.7600789 -64.3061459 -3.2389E-13 34.7600789 -64.3061459

5287.394218 2.12931E-15 3.93923E-15 -5287.39422 -2.1293E-15 3.93923E-15
0 64.3061459 158.621827 0 -64.3061459 79.3109133
T^t*k= K= T^t*k*T=
-3.23892E-13 34.7600789 64.3061459 3.23892E-13 -34.7600789 64.3061459
-5287.394218 -2.1293E-15 -3.9392E-15 5287.39422 2.12931E-15 -3.9392E-15
0 64.3061459 79.3109133 0 -64.3061459 158.621827

X1 Y1 θ1 X2 Y2 θ2 X3
34.76007886 3.21763E-13 -64.3061459 -34.7600789 -3.2176E-13 -64.3061459 0
3.217628E-13 5287.39422 3.93923E-15 -3.2176E-13 -5287.39422 3.93923E-15 0
-64.3061459 3.93923E-15 158.621827 64.3061459 -3.9392E-15 79.3109133 0
-34.76007886 -3.2176E-13 64.3061459 34.7600789 3.21763E-13 64.3061459 0
-3.21763E-13 -5287.39422 -3.9392E-15 3.21763E-13 5287.39422 -3.9392E-15 0
-64.3061459 3.93923E-15 79.3109133 64.3061459 -3.9392E-15 158.621827 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 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
 6.12574E-17 -1 0 0 0 0
1 6.12574E-17 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 6.12574E-17 -1 0
0 0 0 1 6.12574E-17 0
0 0 0 0 0 1

X1 Y1 θ1 X2 Y2 θ2
X1 34.7600789 3.21763E-13 -64.3061459 -34.7600789 -3.2176E-13 -64.3061459
Y1 3.21763E-13 5287.39422 3.93923E-15 -3.2176E-13 -5287.39422 3.93923E-15
θ1 -64.3061459 3.93923E-15 158.621827 64.3061459 -3.9392E-15 79.3109133
X2 -34.7600789 -3.2176E-13 64.3061459 34.7600789 3.21763E-13 64.3061459
Y2 -3.2176E-13 -5287.39422 -3.9392E-15 3.21763E-13 5287.39422 -3.9392E-15
θ2 -64.3061459 3.93923E-15 79.3109133 64.3061459 -3.9392E-15 158.621827

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
X6 Y6 θ6
0 0 0 X1
0 0 0 Y1
0 0 0 θ1
0 0 0 X2
0 0 0 Y2
0 0 0 θ2
0 0 0 X3
0 0 0 Y3
0 0 0 θ3
0 0 0 X4
0 0 0 Y4
0 0 0 θ4
0 0 0 X5
0 0 0 Y5
0 0 0 θ5
0 0 0 X6
0 0 0 Y6
0 0 0 θ6
 COLUMNA 2

DATOS:

L= 3
E= 2173706.51 E=15000SQR210
I= 0.000675
A= 0.09
α= 90 (Grados)

i= 2
NUDOS
j= 3

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

65211.1954 978.16793 1956.33586 978.16793 652.111954

65211.1954 0 0 -65211.1954 0 0
0 652.111954 978.16793 0 -652.111954 978.16793
0 978.16793 1956.33586 0 -978.16793 978.16793
K=
-65211.1954 0 0 65211.1954 0 0
0 -652.111954 -978.16793 0 652.111954 -978.16793
0 978.16793 978.16793 0 -978.16793 1956.33586

Matriz de transformación:

Seno(α) Cos(α)
1 0.000

0.000 1 0 0 0 0
-1 0.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 0.000 1 0
0 0 0 -1 0.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

3.99467E-12 -652.111954 -978.16793 -3.9947E-12 652.111954 -978.16793

65211.1954 3.99467E-14 5.992E-14 -65211.1954 -3.9947E-14 5.992E-14
0 978.16793 1956.33586 0 -978.16793 978.16793
T^t*k= K= T^t*k*T=
-3.9947E-12 652.111954 978.16793 3.99467E-12 -652.111954 978.16793
-65211.1954 -3.9947E-14 -5.992E-14 65211.1954 3.99467E-14 -5.992E-14
0 978.16793 978.16793 0 -978.16793 1956.33586

X1 Y1 θ1 X2 Y2 θ2 X3
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 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 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
 6.12574E-17 -1 0 0 0 0
1 6.12574E-17 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 6.12574E-17 -1 0
0 0 0 1 6.12574E-17 0
0 0 0 0 0 1

X2 Y2 θ2 X3 Y3 θ3
X2 652.111954 3.95472E-12 -978.16793 -652.111954 -3.9547E-12 -978.16793
Y2 3.95472E-12 65211.1954 5.992E-14 -3.9547E-12 -65211.1954 5.992E-14
θ2 -978.16793 5.992E-14 1956.33586 978.16793 -5.992E-14 978.16793
X3 -652.111954 -3.9547E-12 978.16793 652.111954 3.95472E-12 978.16793
Y3 -3.9547E-12 -65211.1954 -5.992E-14 3.95472E-12 65211.1954 -5.992E-14
θ3 -978.16793 5.992E-14 978.16793 978.16793 -5.992E-14 1956.33586

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
 VIGA 3

DATOS:

L= 6
E= 2173706.51 E=15000SQR210
I= 0.0054
A= 0.18
α= 0 (Grados)

i= 2
NUDOS
j= 5

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

65211.1954 3912.67172 7825.34344 1956.33586 652.111954

65211.1954 0 0 -65211.1954 0 0
0 652.111954 1956.33586 0 -652.111954 1956.33586
0 1956.33586 7825.34344 0 -1956.33586 3912.67172
K=
-65211.1954 0 0 65211.1954 0 0
0 -652.111954 -1956.33586 0 652.111954 -1956.33586
0 1956.33586 3912.67172 0 -1956.33586 7825.34344

Matriz de transformación:

Seno(α) Cos(α)
0 1.000

1.000 0 0 0 0 0
0 1.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 1.000 0 0
0 0 0 0 1.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

65211.1954 0 0 -65211.1954 0 0
0 652.111954 1956.33586 0 -652.111954 1956.33586
0 1956.33586 7825.34344 0 -1956.33586 3912.67172
T^t*k= K= T^t*k*T=
-65211.1954 0 0 65211.1954 0 0
0 -652.111954 -1956.33586 0 652.111954 -1956.33586
0 1956.33586 3912.67172 0 -1956.33586 7825.34344

X1 Y1 θ1 X2 Y2 θ2 X3
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 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 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
 1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1

X2 Y2 θ2 X5 Y5 θ5
X2 65211.1954 0 0 -65211.1954 0 0
Y2 0 652.111954 1956.33586 0 -652.111954 1956.33586
θ2 0 1956.33586 7825.34344 0 -1956.33586 3912.67172
X5 -65211.1954 0 0 65211.1954 0 0
Y5 0 -652.111954 -1956.33586 0 652.111954 -1956.33586
θ5 0 1956.33586 3912.67172 0 -1956.33586 7825.34344

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
 VIGA 4

DATOS:

L= 6
E= 2173706.51 E=15000SQR210
I= 0.0054
A= 0.18
α= 0 (Grados)

i= 3
NUDOS
j= 6

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

65211.1954 3912.67172 7825.34344 1956.33586 652.111954

65211.1954 0 0 -65211.1954 0 0
0 652.111954 1956.33586 0 -652.111954 1956.33586
0 1956.33586 7825.34344 0 -1956.33586 3912.67172
K=
-65211.1954 0 0 65211.1954 0 0
0 -652.111954 -1956.33586 0 652.111954 -1956.33586
0 1956.33586 3912.67172 0 -1956.33586 7825.34344

Matriz de transformación:

Seno(α) Cos(α)
0 1.000

1.000 0 0 0 0 0
0 1.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 1.000 0 0
0 0 0 0 1.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

65211.1954 0 0 -65211.1954 0 0
0 652.111954 1956.33586 0 -652.111954 1956.33586
0 1956.33586 7825.34344 0 -1956.33586 3912.67172
T^t*k= K= T^t*k*T=
-65211.1954 0 0 65211.1954 0 0
0 -652.111954 -1956.33586 0 652.111954 -1956.33586
0 1956.33586 3912.67172 0 -1956.33586 7825.34344

X1 Y1 θ1 X2 Y2 θ2 X3
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 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 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
 1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1

X3 Y3 θ3 X6 Y6 θ6
X3 65211.1954 0 0 -65211.1954 0 0
Y3 0 652.111954 1956.33586 0 -652.111954 1956.33586
θ3 0 1956.33586 7825.34344 0 -1956.33586 3912.67172
X6 -65211.1954 0 0 65211.1954 0 0
Y6 0 -652.111954 -1956.33586 0 652.111954 -1956.33586
θ6 0 1956.33586 3912.67172 0 -1956.33586 7825.34344

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
 COLUMNA 5

DATOS:

L= 3.7
E= 2173706.51
I= 0.000675
A= 0.09
α= 270 (Grados)

i= 5
NUDOS
j= 4

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

52873.9422 793.109133 1586.21827 643.061459 347.600789

52873.9422 0 0 -52873.9422 0 0
0 347.600789 643.061459 0 -347.600789 643.061459
0 643.061459 1586.21827 0 -643.061459 793.109133
K=
-52873.9422 0 0 52873.9422 0 0
0 -347.600789 -643.061459 0 347.600789 -643.061459
0 643.061459 793.109133 0 -643.061459 1586.21827

Matriz de transformación:

Seno(α) Cos(α)
-1 0.000

0.000 -1 0 0 0 0
1 0.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 0.000 -1 0
0 0 0 1 0.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

-9.7168E-12 347.600789 643.061459 9.71676E-12 -347.600789 643.061459

-52873.9422 -6.3879E-14 -1.1818E-13 52873.9422 6.38794E-14 -1.1818E-13
0 643.061459 1586.21827 0 -643.061459 793.109133
T^t*k= K= T^t*k*T=
9.71676E-12 -347.600789 -643.061459 -9.7168E-12 347.600789 -643.061459
52873.9422 6.38794E-14 1.18177E-13 -52873.9422 -6.3879E-14 1.18177E-13
0 643.061459 793.109133 0 -643.061459 1586.21827

X1 Y1 θ1 X2 Y2 θ2 X3
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 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 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
 -1.8377E-16 1 0 0 0 0
-1 -1.8377E-16 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 -1.8377E-16 1 0
0 0 0 -1 -1.8377E-16 0
0 0 0 0 0 1

X5 Y5 θ5 X4 Y4 θ4
X5 347.600789 9.65288E-12 643.061459 -347.600789 -9.6529E-12 643.061459
Y5 9.65288E-12 52873.9422 -1.1818E-13 -9.6529E-12 -52873.9422 -1.1818E-13
θ5 643.061459 -1.1818E-13 1586.21827 -643.061459 1.18177E-13 793.109133
X4 -347.600789 -9.6529E-12 -643.061459 347.600789 9.65288E-12 -643.061459
Y4 -9.6529E-12 -52873.9422 1.18177E-13 9.65288E-12 52873.9422 1.18177E-13
θ4 643.061459 -1.1818E-13 793.109133 -643.061459 1.18177E-13 1586.21827

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
 COLUMNA 6

DATOS:

L= 3.7
E= 2173706.51
I= 0.000675
A= 0.09
α= 270 (Grados)

i= 6
NUDOS
j= 5

atriz de rigidez en coordenadas locales:

EA/L 2EI/L 4EI/L 6EI/L^2 12EI/L^3

52873.9422 793.109133 1586.21827 643.061459 347.600789

52873.9422 0 0 -52873.9422 0 0
0 347.600789 643.061459 0 -347.600789 643.061459
0 643.061459 1586.21827 0 -643.061459 793.109133
K=
-52873.9422 0 0 52873.9422 0 0
0 -347.600789 -643.061459 0 347.600789 -643.061459
0 643.061459 793.109133 0 -643.061459 1586.21827

Matriz de transformación:

Seno(α) Cos(α)
-1 0.000

0.000 -1 0 0 0 0
1 0.000 0 0 0 0
0 0 1 0 0 0
T=
0 0 0 0.000 -1 0
0 0 0 1 0.000 0
0 0 0 0 0 1

e Rigidez en coordenadas globales: (T^t*k*T)

-9.7168E-12 347.600789 643.061459 9.71676E-12 -347.600789 643.061459

-52873.9422 -6.3879E-14 -1.1818E-13 52873.9422 6.38794E-14 -1.1818E-13
0 643.061459 1586.21827 0 -643.061459 793.109133
T^t*k= K= T^t*k*T=
9.71676E-12 -347.600789 -643.061459 -9.7168E-12 347.600789 -643.061459
52873.9422 6.38794E-14 1.18177E-13 -52873.9422 -6.3879E-14 1.18177E-13
0 643.061459 793.109133 0 -643.061459 1586.21827

X1 Y1 θ1 X2 Y2 θ2 X3
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 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 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
 -1.8377E-16 1 0 0 0 0
-1 -1.8377E-16 0 0 0 0
0 0 1 0 0 0
T^t=
0 0 0 -1.8377E-16 1 0
0 0 0 -1 -1.8377E-16 0
0 0 0 0 0 1

X6 Y6 θ6 X5 Y5 θ5
X6 347.600789 9.65288E-12 643.061459 -347.600789 -9.6529E-12 643.061459
Y6 9.65288E-12 52873.9422 -1.1818E-13 -9.6529E-12 -52873.9422 -1.1818E-13
θ6 643.061459 -1.1818E-13 1586.21827 -643.061459 1.18177E-13 793.109133
X5 -347.600789 -9.6529E-12 -643.061459 347.600789 9.65288E-12 -643.061459
Y5 -9.6529E-12 -52873.9422 1.18177E-13 9.65288E-12 52873.9422 1.18177E-13
θ5 643.061459 -1.1818E-13 793.109133 -643.061459 1.18177E-13 1586.21827

Y3 θ3 X4 Y4 θ4 X5 Y5 θ5
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 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 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 0
0 0 0 0 0 0 0 0
 X1 Y1 θ1 X2 Y2
7.00 0.00 -64.31 -34.76 0.00
0.00 5287.39 0.00 0.00 -5287.39
-64.31 0.00 158.62 64.31 0.00
-34.76 0.00 64.31 34.76 0.00
0.00 -5287.39 0.00 0.00 5287.39
-64.31 0.00 79.31 64.31 0.00
0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00
#VALUE! #VALUE! 0.00 0.00 0.00
643.06 347.60 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00
-52873.94 0.00 0.00 0.00 0.00
0.00 -347.60 643.06 0.00 0.00
0.00 -643.06 793.11 0.00 0.00
52873.94 0.00 0.00 0.00 0.00
 θ2 X3 Y3 θ3 X4 Y4 θ4 X5
-64.31 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
79.31 0.00 0.00 0.00 0.00 0.00 0.00 0.00
64.31 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
158.62 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00
 Y5 θ5 X6 Y6 θ6
0.00 0.00 0.00 0.00 0.00 X1
0.00 0.00 0.00 0.00 0.00 Y1
0.00 0.00 0.00 0.00 0.00 θ1
0.00 0.00 0.00 0.00 0.00 X2
0.00 0.00 0.00 0.00 0.00 Y2
0.00 0.00 0.00 0.00 0.00 θ2
0.00 0.00 0.00 0.00 0.00 X3
0.00 0.00 0.00 0.00 0.00 Y3
0.00 0.00 0.00 0.00 0.00 θ3
0.00 0.00 0.00 0.00 0.00 X4
0.00 0.00 0.00 0.00 0.00 Y4
0.00 0.00 0.00 0.00 0.00 θ4
0.00 0.00 0.00 0.00 0.00 X5
0.00 0.00 0.00 0.00 0.00 Y5
0.00 0.00 0.00 0.00 0.00 θ5
0.00 0.00 0.00 0.00 0.00 X6
0.00 0.00 0.00 0.00 0.00 Y6
0.00 0.00 0.00 0.00 0.00 θ6
 X2 X5 X3 X6 θ2 θ3 θ5
34.76 34.76 34.76 34.76 34.76 34.76 34.76
0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00
64.31 64.31 64.31 64.31 64.31 64.31 64.31
0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00 0.00 0.00 0.00
 θ6
34.76 X2
0.00 X5
0.00 X3
0.00 X6
64.31 θ2
0.00 θ3
0.00 θ5
0.00 θ6
#N/A
#N/A
#N/A
#N/A
#N/A
#N/A
#N/A
#N/A
#N/A
#N/A