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MIEMBRO 1
x =
y =
L=
0
-1.00
10.00
1
0
2
0
3
0
MIEMBRO 2
x =
y =
L=
0.7071
-0.7071
14.14
MIEMBRO 3
x =
y =
1
0
MIEMBRO 4
x =
y =
1
0
MIEMBRO 5
x =
y =
0.7071
0.7071
MIEMBRO 6
x =
y =
0
1
0
0
0
0.1
0
-0.1
0
0
0
1
0.0000
-0.0354
-0.0354
0.0354
2
-0.0354
0.0354
0.0354
-0.0354
6
0.0000
0.0354
0.0354
-0.0354
1
0.1
0
-0.1
0
2
0
0
0
0
7
-0.1
0
0.1
0
3
0.1
0
-0.1
0
4
0
0
0
0
6
-0.1
0
0.1
0
3
0.0354
0.0354
-0.0354
-0.0354
4
0.0354
0.0354
-0.0354
-0.0354
7
-0.0354
-0.0354
0.0354
0.0354
6
0
0
5
0
0.1
7
0
0
0
0
0
-0.1
0
0
MBRO
Longitud
10.00
14.14
10.00
10.00
14.14
10.00
4
0
1
0
0
0
0
0
2
0
0.1
0
-0.1
0
3
0
0
0
0
0
4
0
-0.1
0
0.1
0
5
0
0
0
0
0
6
0
0
0
0
0
7
0
0
0
0
0
8
0
0
0
0
0
-0.1
0
0.1
2
3
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.000
-0.035
5
0.0354
-0.0354
-0.0354
0.0354
8
0
0
0
0
1
2
6
5
-0.035
0.035
0.000
0.000
0.000
0.000
1
2
7
8
0.1
0
-0.1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
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
-0.1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-0.1
0
0
0.1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
3
4
6
5
8
-0.0354
-0.0354
0.0354
0.0354
3
4
7
8
8
0
-0.1
6
5
0
0
0
0
0.0354 0.0354
0.0354 0.0354
0
0
0
0
-0.035 -0.035
-0.035 -0.035
0
0
0
0
-0.035 -0.035
-0.035 -0.035
0
0
0
0
0.0354 0.0354
0.0354 0.0354
0
0.1
7
8
0
0
0
0
0
0
0
0
0
0
0
0
0
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
-0.1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-0.1
0
0
0.1
2
0.000
0.100
0.000
-0.100
0.000
0.000
0.000
0.000
3
0.000
0.000
0.135
0.035
0.000
-0.100
-0.035
-0.035
4
0.000
-0.100
0.035
0.135
0.000
0.000
-0.035
-0.035
5
0.000
0.000
0.000
0.000
0.100
0.000
0.000
-0.100
0.10
-0.04
-0.14
0.04
0.00
0.00
0.00
0.00
0
0.1
0
-0.1
0
0
0
0
0
0
0.1354
0.0354
0
-0.1
-0.0354
-0.0354
0
-0.1
0.0354
0.1354
0
0
-0.0354
-0.0354
0
0
0
0
0.1
0
0
-0.1
10.000
-10.000
13.536
-13.536
0.000
0.000
48.249
-10.000
38.249
0.000
0.000
-10.000
10.000
-10.000
0.000
0.000 0.000
38.249 0.000
1/
-10.000 0.000
38.249 0.000
0.000 10.000
_= _21 _
Q6
=AE
Q7
Q8
0.00
0.00
0.00
0.0000
0.0000
0.0000
-0.1000
-0.0354
-0.0354
0.0000
1/
-0.0354
-0.0354
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
AE
10
MIEMBRO 2
x =
0.707107
y =
-0.70711
L=
14.14
MIEMBRO 3
x =
1
y =
0
L=
10.00
AE
10
-1
MIEMBRO 4
x =
1
y =
0
L=
10.00
AE
10
-1
MIEMBRO 5
x =
0.7071
y =
0.7071
L=
14.14
AE
14
MIEMBRO 6
x =
0
y =
1
L=
10.00
AE
10
1
0
2
1
-0.7071 -0.7071
-1
3
1/
0
0.7071
1
2
3
4
5
6
7
8
IGIDEZ GLOBAL
6
0.000
0.000
-0.100
0.000
0.000
0.100
0.000
0.000
7
-0.100
0.000
-0.035
-0.035
0.000
0.000
0.135
0.035
8
0.000
0.000
-0.035
-0.035
-0.100
0.000
0.035
0.135
1
2
3
4
5
6
7
8
&_22 )][8(_@_ )]
0
0
-0.1
0
0
0.1
0
0
-0.1
0
-0.0354
-0.0354
0
0
0.1354
0.0354
0
0
-0.0354
-0.0354
-0.1
0
0.0354
0.1354
d1
d2
d3
d4
d5
0
0
0
2
-4
1/
0
0
0
20.00
-212.99
67.07
-180.07
0.00
e Reacciones
0.0000
0.0000
-0.1000
20.00
-212.99
67.07
-180.07
-6.71
4.00
4.00
0.00
4
-1 =
20.00
-212.99
67.07
-180.07
-2.07
-0.70711 -86.50
0.00
-22.07
67.07
-180.07
0.00
0.00
67.07
-180.07
0.00
0.00
0.00
0.00
0.00
0.7071
20.00
-212.99
0.00
0.00
-3.29
-3.12
-2
-6.71
5.65
0.00
MIEMBRO 1
Ax=
Ay=
1
0
17
18
L=
4
k1
MIEMBRO 2
Ax=
Ay=
L=
1
0
4
k2
MIEMBRO 3
Ax=
Ay=
L=
1
0
4
k3
MIEMBRO 4
Ax=
Ay=
L=
1
0
4
k4
MIEMBRO 5
Ax=
Ay=
L=
0.5
-0.866
4
k5
MIEMBRO 6
Ax=
Ay=
L=
1
0
4
0.25
0
-0.25
0
0
0
0
0
-0.25
0
0.25
0
3
0.25
0
-0.25
0
4
0
0
0
0
7
-0.25
0
0.25
0
7
0.25
0
-0.25
0
8
0
0
0
0
11
-0.25
0.00
0.25
0
11
0.25
0
-0.25
0
12
0
0
0
0
15
-0.25
0
0.25
0
13
0.063
-0.108
-0.063
0.108
14
0.750
0.750
0.108
-0.750
15
-0.063
0.108
0.063
-0.108
9
0.25
0
10
0
0
13
-0.25
0
k6
MIEMBRO 7
Ax=
Ay=
L=
1
0
4
k7
MIEMBRO 8
Ax=
Ay=
L=
1
0
4
k8
MIEMBRO 9
Ax=
Ay=
L=
0.5
0.866
4
k9
MIEMBRO 10
Ax=
Ay=
L=
0.5
-0.866
4
k10
MIEMBRO 11
Ax=
Ay=
L=
0.5
0.866
4
k11
-0.25
0
0
0
0.25
0
5
0.25
0
-0.25
0
6
0
0
0
0
9
-0.25
0
0.25
0
1
0.25
0
-0.25
0
2
0
0
0
0
5
-0.25
0
0.25
0
17
0.063
0.108
-0.063
-0.108
18
0.750
0.750
-0.108
-0.750
1
-0.063
-0.108
0.063
0.108
1
0.063
-0.108
-0.063
0.108
2
0.750
0.750
0.108
-0.750
3
-0.063
0.108
0.063
-0.108
3
0.063
0.108
-0.063
-0.108
4
0.750
0.750
-0.108
-0.750
5
-0.063
-0.108
0.063
0.108
MIEMBRO 12
Ax=
Ay=
L=
0.5
-0.866
4
k12
MIEMBRO 13
Ax=
Ay=
L=
0.5
0.866
4
k13
MIEMBRO 14
Ax=
Ay=
L=
0.5
-0.866
4
k14
MIEMBRO 15
Ax=
Ay=
L=
0.5
0.866
4
k15
5
0.063
-0.108
-0.063
0.108
6
0.750
0.750
0.108
-0.750
7
-0.063
0.108
0.063
-0.108
7
0.063
0.108
-0.063
-0.108
8
0.750
0.750
-0.108
-0.750
9
-0.063
-0.108
0.063
0.108
9
0.063
-0.108
-0.063
0.108
10
0.750
0.750
0.108
-0.750
11
-0.063
0.108
0.063
-0.108
11
0.063
0.108
-0.063
-0.108
12
0.750
0.750
-0.108
-0.750
13
-0.063
-0.108
0.063
0.108
Longitud
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
1
0
0
0
0
2
0
0
0
0
3
0
0
0.25
0
4
0
0
0
0
5
0
0
0
0
6
0
0
0
0
0
0
0
0
17
18
3
4
k1
8
0
0
0
0
12
0
0
0
0
3
4
7
8
7
8
11
12
k2
16
0
0
0
0
11
12
15
16
16
0.108
-0.750
-0.108
0.750
13
14
15
16
14
0
0
k3
9
10
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-0.25
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
0
0
0
0
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0.25
0
0
0
-0.25
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6
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
0
0
0
2
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0
0
0
0
0
6
0
0
0
0
0
0
0
0
0
0
0
13
14
10
0
0
0
0
5
6
9
10
6
0
0
0
0
1
2
5
6
k4
2
-0.108
-0.750
0.108
0.750
4
0.108
-0.750
-0.108
0.750
17
18
1
2
1
2
3
4
k5
6
-0.108
-0.750
0.108
0.750
3
4
5
6
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
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
0
0
0
0
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6
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
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
0.108
-0.750
-0.108
0.750
5
6
7
8
10
-0.108
-0.750
0.108
0.750
7
8
9
10
k6
12
0.108
-0.750
-0.108
0.750
14
-0.108
-0.750
0.108
0.750
9
10
11
12
11
12
13
14
k7
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
0
0
0
0
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6
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
0
0
0
0
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
0
0
0
0
0.25
0
0
0
-0.25
0
0
0
0
0
0
0
0
0
6
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
k8
k9
1
0.25
0
0
0
-0.25
0
0
0
0
0
0
0
0
0
0
0
0
0
2
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
-0.25
0
0
0
0.25
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7
0
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8
0
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9
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7
8
0
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0
-0.063 0.108
0.108 -0.750
0.063 -0.108
-0.108 0.750
9
0
0
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0
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0
10
0
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11
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7
8
9
10
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0.063 0.750 -0.063 -0.108
0.108 0.750 -0.108 -0.750
-0.063 -0.108 0.063 0.108
-0.108 -0.750 0.108 0.750
0
0
0
0
0
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17
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0
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0
8
9
10
11
12
0
0
0
0
0
0
0
0
0
0
0
0
0
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0
0 0.063 0.750 -0.063 0.108
0 -0.108 0.750 0.108 -0.750
0 -0.063 0.108 0.063 -0.108
0 0.108 -0.750 -0.108 0.750
0
0
0
0
0
13
0
0
0
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14
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16
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17
0
0
0
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0
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0
7
0
0
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0
0
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0
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0
0
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0
0
0
7
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
9
0
0
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10
11
12
13
14
0
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0
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0
0 0.063 0.750 -0.063 -0.108
0 0.108 0.750 -0.108 -0.750
0 -0.063 -0.108 0.063 0.108
0 -0.108 -0.750 0.108 0.750
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
15
0
0
0
0
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0
0
0
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0
0
0
16
0
0
0
0
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0
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0
0
0
0
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0
17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
0.376 0.858 -0.063 0.108 -0.250 0.000
0.000 1.500 0.108 -0.750 0.000 0.000
-0.063 0.108 0.625 0.642 -0.063 -0.108
0.108 -0.750 0.000 1.500 -0.108 -0.750
-0.250 0.000 -0.063 -0.108 0.625 0.858
0.000 0.000 -0.108 -0.750 0.000 1.500
0.000 0.000 -0.250 0.000 -0.063 0.108
0.000 0.000 0.000 0.000 0.108 -0.750
0.000 0.000 0.000 0.000 -0.250 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
0.000 0.000 0.000 0.000 0.000 0.000
-0.063 -0.108 -0.250 0.000 0.000 0.000
-0.108 -0.750 0.000 0.000 0.000 0.000
18
0
0
0
0
1
2
3
4
0
0
0
0
0
0
0
0
0
0
0
0
0
0
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
0
0
0
0
0
0
0
0
0
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
0
0
0
0
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
-0.108
-0.750
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.750
0.750
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
1
2
3
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
0
0
0
0
0
0
0
0
0
0
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
0
0
0
0
0
14
15
16
17
18
18
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
7
8
9
10
11
12
13
14
15
16
17
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 -0.063
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 -0.108
-0.250 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 -0.250
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
-0.063 0.108 -0.250 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
0.108 -0.750 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000
0.625 0.642 -0.063 -0.108 -0.250 0.000 0.000 0.000 0.000 0.000 0.000
0.000 1.500 -0.108 -0.750 0.000 0.000 0.000 0.000 0.000 0.000 0.000
-0.063 -0.108 0.625 0.858 -0.063 0.108 -0.250 0.000 0.000 0.000 0.000
-0.108 -0.750 0.000 1.500 0.108 -0.750 0.000 0.000 0.000 0.000 0.000
-0.250 0.000 -0.063 0.108 0.625 0.642 -0.063 -0.108 -0.250 0.000 0.000
0.000 0.000 0.108 -0.750 0.000 1.500 -0.108 -0.750 0.000 0.000 0.000
0.000 0.000 -0.250 0.000 -0.063 -0.108 0.375 0.858 -0.063 0.108 0.000
0.000 0.000 0.000 0.000 -0.108 -0.750 0.000 1.500 0.108 -0.750 0.000
0.000 0.000 0.000 0.000 -0.250 0.000 -0.063 0.108 0.313 -0.108 0.000
0.000 0.000 0.000 0.000 0.000 0.000 0.108 -0.750 -0.108 0.750 0.000
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.313
0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.000 0.108
TODO DE LA RIGIDEZ
18
-0.108
-0.750
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.000
0.750
0.750
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18