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UNIDAD 3.

INTEGRANTES:

Beraly Alejandra Acuña Ríos. Anhuar Alejandro Farías Chávez.


Lizbeth Berenice Cardona Peña. Nubia Yoselin Ibáñez Chávez .
Olga Alondra Echartea Reyes. Miguel Angel Rubio Padrón .
Carlos Francisco Gutiérrez Manzano Eric Ronaldo López Vargas.

ASESOR INSTITUCIONAL:
Ing. Jesús Alejandro Paz Villafaña
PRPRP
PRPRP
PRPRP

i 𝜶𝒊−𝟏 𝒂𝒊−𝟏 𝜽𝒊 𝒅𝒊
1 0 0 -90° d1
2 -90° 0 Θ2 L2
3 -90° 0 0 d3
4 -90° 0 Θ4 0
5 180° L4 90° d5
e 0 0 0 Le
PRPRP
i 𝜶𝒊−𝟏 𝒂𝒊−𝟏 𝜽𝒊 𝒅𝒊
1 0 0 -90° d1 𝐶𝜃𝑖 −𝑆𝜃𝑖 0 𝑎𝑖−1
𝑆𝜃𝑖 𝐶𝛼𝑖−1 𝐶𝜃𝑖 𝐶α𝐢−𝟏 −𝑆α𝐢−𝟏 −𝑑𝑖𝑆α𝐢−𝟏
2 -90° 0 Θ2 L2 𝑇𝑖𝑖−1 =
𝑆𝜃𝑖 𝑆α𝐢−𝟏 𝐶𝜃𝑖 𝑆α𝐢−𝟏 𝐶α𝐢−𝟏 𝑑𝑖𝐶α𝐢−𝟏
3 -90° 0 0 d3 0 0 0 1

4 -90° 0 Θ4 0
5 180° L4 90° d5
e 0 0 0 Le

0 1 0 0 1 0 0 0 0 −1 0 𝐿4
−1 0 0 0 0 0 1 𝑑3 −1 0 0 0
𝑇10 = 𝑇32 = 𝑇54 =
0 0 1 𝑑1 0 −1 0 0 0 0 −1 −𝑑5
0 0 0 1 0 0 0 1 0 0 0 1

𝐶2 −𝑆2 0 0 𝐶4 −𝑆4 0 0 1 0 0 0
0 0 1 𝐿2 0 0 1 0 0 1 0 0
𝑇21 = 𝑇43 = 𝑇𝑒5 =
−𝑆2 −𝐶2 0 0 −𝑆4 −𝐶4 0 0 0 0 1 𝐿𝑒
0 0 0 1 0 0 0 1 0 0 0 1
PRPRP 0 −1 0 𝐿4
0 1 0 0 1 0 0 0
−1 0 0 0 0 0 1 𝑑3 −1 0 0 0
𝑇10 = 𝑇32 = 𝑇54 =
0 0 1 𝑑1 0 −1 0 0 0 0 −1 −𝑑5
0 0 0 1 0 0 0 1 0 0 0 1
𝐶2 −𝑆2 0 0 𝐶4 −𝑆4 0 0 1 0 0 0
0 0 1 𝐿2 0 0 1 0 0 1 0 0
𝑇21 = 𝑇43 = 𝑇𝑒5 =
−𝑆2 −𝐶2 0 0 −𝑆4 −𝐶4 0 0 0 0 1 𝐿𝑒
0 0 0 1 0 0 0 1 0 0 0 1

0 0 1 𝐿2 0 −1 0 𝐿2
−𝐶2 𝑆2 0 0 −𝐶2 0 𝑆2 𝑆2 𝑑3
𝑇20 = 𝑇30 =
−𝑆2 −𝐶2 0 𝑑1 −𝑆2 0 −𝐶2 𝑑1 + 𝐶2 𝑑3
0 0 0 1 0 0 0 1

0 0 −1 𝐿2 0 0 −1 𝐿2
−𝐶2 𝐶4 − 𝑆2 𝑆4 𝐶2 𝑆4 − 𝑆2 𝐶4 0 𝑆2 𝑑3 −𝐶2−4 𝑆4−2 0 𝑆2 𝑑3
𝑇40 = =
𝐶2 𝑆4 − 𝑆2 𝐶4 𝐶2 𝐶4 + 𝑆2 𝑆4 0 𝑑1 + 𝐶2 𝑑3 𝑆4−2 𝐶2−4 0 𝑑1 + 𝐶2 𝑑3
0 0 0 1 0 0 0 1
1
PRPRP
0 0 0 0 −1 0 𝐿4
0 1 0 0
−1 0 0 0 0 0 1 𝑑3 −1 0 0 0
𝑇10 = 𝑇32 = 𝑇54 =
0 0 1 𝑑1 0 −1 0 0 0 0 −1 −𝑑5
0 0 0 1 0 0 0 1 0 0 0 1

𝐶2 −𝑆2 0 0 𝐶4 −𝑆4 0 0 1 0 0 0
0 0 1 𝐿2 0 0 1 0 0 1 0 0
𝑇21 = 𝑇43 = 𝑇𝑒5 =
−𝑆2 −𝐶2 0 0 −𝑆4 −𝐶4 0 0 0 0 1 𝐿𝑒
0 0 0 1 0 0 0 1 0 0 0 1

0 0 1 𝑑5 + 𝐿2
−𝑆4−2 𝐶2−4 0 −𝐶2−4 𝐿4 + 𝑆2 𝑑3
𝑇50 =
−𝐶2−4 −𝑆4−2 0 𝑆4−2 𝐿4 + 𝑑1 − 𝐶2 𝑑3
0 0 0 1

0 0 1 𝑑5 + 𝐿2 + 𝐿𝑒
−𝑆4−2 𝐶2−4 0 −𝐶2−4 𝐿4 + 𝑆2 𝑑3 + 𝐿𝑒
𝑇𝑒0 =
−𝐶2−4 −𝑆4−2 0 𝑆4−2 𝐿4 + 𝑑1 − 𝐶2 𝑑3 + 𝐿𝑒
0 0 0 1