72
Quadro de comparação dos resultados plotados pelo programa de CAD e a
Equação do posicionamento das hastes em Y
Utilizando CAD Equação 3.23
Placa de suporte das hastes
Articulação 9
Translação no eixo Y (mm)
Translação no eixo Y (mm)
Quadro
Tempo
Sist. de coordenadas de ref.:
∆Y(Q)
mm
θ Sist. de coordenadas de ref.:
∆Y(θ)
mm
1 0,000 334,322 0,000 0 437,898 0,000
6 0,208 333,372 0,950 5 436,977 0,921
11 0,417 332,420 1,902 10 436,054 1,844
16 0,625 331,474 2,848 15 435,138 2,760
21 0,833 330,541 3,781 20 434,235 3,664
26 1,042 329,630 4,692 25 433,352 4,546
31 1,250 328,748 5,574 30 432,498 5,400
36 1,458 327,903 6,419 35 431,680 6,218
41 1,667 327,103 7,219 40 430,905 6,993
46 1,875 326,354 7,968 45 430,180 7,719
51 2,083 325,665 8,658 50 429,511 8,387
56 2,292 325,040 9,282 55 428,905 8,993
61 2,500 324,487 9,835 60 428,367 9,531
66 2,708 324,010 10,312 65 427,904 9,995
71 2,917 323,615 10,707 70 427,518 10,381
76 3,125 323,305 11,017 75 427,214 10,685
81 3,333 323,083 11,239 80 426,994 10,904
86 3,542 322,952 11,370 85 426,862 11,036
91 3,750 322,912 11,410 90 426,818 11,081
96 3,958 322,965 11,357 95 426,862 11,036
101 4,167 323,110 11,213 100
426,994 10,904
106 4,375 323,344 10,978 105
427,214 10,685
111 4,583 323,667 10,655 110
427,518 10,381
116 4,792 324,074 10,248 115
427,904 9,995
121 5,000 324,563 9,760 120
428,367 9,531
126 5,208 325,127 9,195 125
428,905 8,993
131 5,417 325,762 8,561 130
429,511 8,387
136 5,625 326,461 7,861 135
430,180 7,719
141 5,833 327,218 7,104 140
430,905 6,993
146 6,042 328,026 6,296 145
431,680 6,218
151 6,250 328,878 5,444 150
432,498 5,400
156 6,458 329,765 4,557 155
433,352 4,546
161 6,667 330,681 3,641 160
434,235 3,664
166 6,875 331,617 2,705 165
435,138 2,760
171 7,083 332,566 1,757 170
436,054 1,844
176 7,292 333,519 0,804 175
436,977 0,921
181 7,500 334,469 -0,147 180
437,898 0,000
186 7,708 335,409 -1,087 185
438,811 -0,913
191 7,917 336,332 -2,010 190
439,709 -1,811
196 8,125 337,232 -2,909 195
440,585 -2,687
201 8,333 338,101 -3,778 200
441,433 -3,535
206 8,542 338,934 -4,612 205
442,247 -4,349
211 8,750 339,726 -5,404 210
443,023 -5,124