Comp Larg Esp Volume Massa

Tamanho doElo 1 300 30 10 mm 0.00009 0.720

Elo 2 500 30 10 mm 0.00015 1.200
Elo 3 200 30 10 mm 0.00006 0.480
Mesa 700 400 30 mm 0.0084 67.200

ρ 8000 Kg/m³

graus ω2 (rad/s) θ2 ω3 θ3 d° m/s d° m/min α2 α3

1 5.4 0.02 3.42 -0.33 -584.16 9.74 10.00 1.99
5 0.09 3.37 -0.29 -629.77 10.50 1.21
10 0.17 3.29 -0.25 -687.11 11.45 0.20
15 0.26 3.20 -0.21 -745.24 12.42 -0.83
20 0.35 3.09 -0.16 -804.50 13.41 -1.92
25 0.44 2.96 -0.12 -865.15 14.42 -3.05
30 0.52 2.82 -0.08 -927.32 15.46 -4.23
35 0.61 2.66 -0.05 -991.03 16.52 -5.45
40 0.70 2.48 -0.01 -1056.13 17.60 -6.72
45 0.79 2.29 0.02 -1122.35 18.71 -8.02
50 0.87 2.09 0.05 -1189.19 19.82 -9.34
55 0.96 1.86 0.08 -1255.98 20.93 -10.66
60 1.05 1.63 0.10 -1321.82 22.03 -11.95
65 1.13 1.38 0.12 -1385.59 23.09 -13.19
70 1.22 1.12 0.14 -1445.95 24.10 -14.35
75 1.31 0.85 0.15 -1501.35 25.02 -15.41
80 1.40 0.57 0.16 -1550.06 25.83 -16.34
85 1.48 0.29 0.17 -1590.25 26.50 -17.13
90 1.57 0.00 0.17 -1620.00 27.00 -17.74
95 1.66 -0.29 0.17 -1637.42 27.29 -18.19
100 1.75 -0.57 0.16 -1640.71 27.35 -18.46
105 1.83 -0.85 0.15 -1628.25 27.14 -18.55
110 1.92 -1.12 0.14 -1598.65 26.64 -18.50
115 2.01 -1.38 0.12 -1550.85 25.85 -18.30
120 2.09 -1.63 0.10 -1484.11 24.74 -17.98
125 2.18 -1.86 0.08 -1398.08 23.30 -17.56
130 2.27 -2.09 0.05 -1292.80 21.55 -17.06
135 2.36 -2.29 0.02 -1168.68 19.48 -16.51
140 2.44 -2.48 -0.01 -1026.50 17.11 -15.92
145 2.53 -2.66 -0.05 -867.36 14.46 -15.30
150 2.62 -2.82 -0.08 -692.68 11.54 -14.66
155 2.71 -2.96 -0.12 -504.13 8.40 -14.00
160 2.79 -3.09 -0.16 -303.65 5.06 -13.34
165 2.88 -3.20 -0.21 -93.34 1.56 -12.67
170 2.97 -3.29 -0.25 124.49 2.07 -11.99
175 3.05 -3.37 -0.29 347.38 5.79 -11.28
180 3.14 -3.44 -0.34 572.76 9.55 -10.54
185 3.23 -3.48 -0.39 797.90 13.30 -9.75
190 3.32 -3.52 -0.43 1019.99 17.00 -8.89
195 3.40 -3.53 -0.48 1236.10 20.60 -7.94
200 3.49 -3.53 -0.53 1443.20 24.05 -6.86
205 3.58 -3.50 -0.58 1638.12 27.30 -5.63
210 3.67 -3.45 -0.62 1817.59 30.29 -4.20
215 3.75 -3.38 -0.67 1978.16 32.97 -2.52
220 3.84 -3.28 -0.71 2116.26 35.27 -0.54
225 3.93 -3.15 -0.76 2228.17 37.14 1.79
230 4.01 -2.98 -0.80 2310.10 38.50 4.53
235 4.10 -2.78 -0.84 2358.27 39.30 7.72
240 4.19 -2.52 -0.87 2369.20 39.49 11.33
245 4.28 -2.22 -0.91 2340.07 39.00 15.31
250 4.36 -1.86 -0.93 2269.31 37.82 19.49
255 4.45 -1.45 -0.95 2157.32 35.96 23.59
260 4.54 -1.00 -0.97 2007.21 33.45 27.24
265 4.63 -0.51 -0.98 1825.11 30.42 30.04
270 4.71 0.00 -0.99 1620.00 27.00 31.65
275 4.80 0.51 -0.98 1402.56 23.38 31.92
280 4.89 1.00 -0.97 1183.57 19.73 30.94
285 4.97 1.45 -0.95 972.27 16.20 28.97
290 5.06 1.86 -0.93 775.29 12.92 26.38
295 5.15 2.22 -0.91 596.37 9.94 23.52
300 5.24 2.52 -0.87 436.72 7.28 20.67
305 5.32 2.78 -0.84 295.78 4.93 18.00
310 5.41 2.98 -0.80 171.89 2.86 15.59
315 5.50 3.15 -0.76 62.85 1.05 13.47
320 5.59 3.28 -0.71 -33.63 0.56 11.62
325 5.67 3.38 -0.67 -119.77 2.00 10.01
330 5.76 3.45 -0.62 -197.59 3.29 8.60
335 5.85 3.50 -0.58 -268.84 4.48 7.34
340 5.93 3.53 -0.53 -335.05 5.58 6.20
345 6.02 3.53 -0.48 -397.53 6.63 5.14
350 6.11 3.52 -0.43 -457.37 7.62 4.14
355 6.20 3.48 -0.39 -515.51 8.59 3.16
360 6.28 3.44 -0.34 -572.76 9.55 2.19
Momento de
Inércia Matriz
0.000216 a b c d e
0.000360 Ax2 -7332.52 1 0 1 0 0
0.000144 Ay2 1227.339 0 1 0 1 0
3.584000 Ax3 255.0479 4.3631016 249.96192 -4.363102 -249.9619 0
Ay3 569.3739 0 0 -1 0 1
0 0 0 -1 0
0 0 -32.46071 -94.58489 32.460713
0 0 0 0 -1
d°° d°*0,5 0 0 0 0 0
-3575.04 1168.32
-3447.44 1259.54
-3387.73 1374.22
-3362.55 1490.47
-3367.77 1609.00
-3398.68 1730.30
-3449.51 1854.64
-3513.17 1982.05
-3580.87 2112.27
-3641.96 2244.69
-3683.83 2378.37
-3692.05 2511.95
-3650.68 2643.63
-3542.90 2771.18
-3351.83 2891.90
-3061.65 3002.70
-2658.75 3100.13
-2132.98 3180.50
-1478.68 3240.00
-695.45 3274.84
211.53 3281.43
1231.64 3256.50
2349.36 3197.31
3545.20 3101.70
4796.79 2968.21
6080.09 2796.15
7370.51 2585.60
8643.78 2337.36
9876.72 2053.00
11047.72 1734.72
 12136.99 1385.36
13126.63 1008.27
14000.60 607.29
14744.51 186.68
15345.43 248.98
15791.53 694.77
16071.75 1145.51
16175.46 1595.79
16091.97 2039.98
15810.13 2472.20
15317.90 2886.40
14601.87 3276.24
13647.03 3635.17
12436.80 3956.31
10953.66 4232.52
9181.08 4456.34
7107.18 4620.19
4731.47 4716.54
2075.12 4738.40
-805.31 4680.14
-3803.52 4538.62
-6755.49 4314.65
-9448.27 4014.41
-11654.38 3650.23
-13188.11 3240.00
-13961.77 2805.12
-14011.67 2367.14
-13478.32 1944.55
-12554.20 1550.59
-11428.52 1192.73
-10251.55 873.44
-9123.25 591.56
-8098.68 343.77
-7200.31 125.71
-6430.31 67.25
-5780.14 239.54
-5236.74 395.17
-4786.30 537.68
-4416.02 670.11
-4114.94 795.06
-3874.08 914.74
-3686.21 1031.03
-3545.57 1145.51
z
f g h Equações
0 0 0 7.2000114 m2AG2X -8799.025 a= 0
0 0 0 1472.8066 m2AG2y 1472.8066 b= 350.38384
0 0 1 0.0036009 IG2α2 0.0036 c= 7.2000114
0 0 0 122.42301 m3AG3X 122.42301 d= 1122.4227
1 0 0 -122.4227 m3AG3y 273.29947 e= 129.62302
94.584894 0 0 0.000288 IG3α3 0.0002871 f= 1000
0 0 0 -129.623 m4AG4x-Fpx -13812.93 g= 0
-1 1 0 -1000 -Fpy -1000 h= 779.24249