1 0 1

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 𝑋1 𝑚2𝑎𝑐2𝑥

0 1 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 𝑋2 𝑚2𝑎𝑐2𝑦 + 𝑊2
𝐿2 𝐿2 𝐿2 𝐿2
− 𝑆𝜃2 𝐶𝜃2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 𝑋3 𝐼 2 𝛼2
2 2 2 𝑆𝜃2 2
𝐶𝜃2
0 1 0 −1 0 0 0 0 0 0 0 0 0 0 0 0
−
−1 0 0 0 0 1 0 −1 0 0 0 0 0 0 0 0 0 0 0 0 𝑋4 𝑚3𝑎𝑐3𝑥
0 −1 0 0 𝑋5 𝑚3𝑎𝑐3𝑦 + 𝑊3
𝐿3 𝐿3
− 𝐶𝜃 0 0 −𝑅 𝑆𝜃 𝑅 𝐶𝜃 𝐿3 𝑆𝜃 − 𝐿3 𝐶𝜃 0 0 0 0 0 0 0 0 0 0 0 0 𝐼𝛼
𝑆𝜃3 3 𝐺3𝐵 𝐺3𝐵 3 3 3
𝑋6 33
2 2 2 2
3

0 0 0 0 0 0 1 0 −1 0 0 0 0 0 0 0 0 0 0 0 𝑋7 𝑚 𝑎𝑐4
4 𝑥
0 𝑋 𝑚 𝑎𝑐4 + 𝑊
0 0 0 0 0 0 0 1 0 −1 0 0 0 0 0 0 0 0 0 8 4 𝑦 4
𝐿4 𝐿4 𝐿4 𝐿4
0 0 0 0 0 0 − 𝑆𝜃4 𝐶𝜃4 𝑆𝜃 − 𝐶𝜃4 0 0 0 0 0 0 0 0 0 1 𝑋9 𝐼 4 𝛼4
2 2 2 4 2
0 0 0 0 −1 0 0 0 0 0 −1 0 −1 0 0 0 0 0 0 0 𝑋10 = 𝑚5𝑎𝑐5𝑥
∗ 𝑚 𝑎𝑐5 +𝑊
0 0 0 0 0 −1 0 0 0 0 0 𝑋11
𝐿5 𝐿5 𝐿 0 −1 0 −1 0 0 0 0 0 5 𝑦 5
5 𝐿5
0 0 0 0 𝑆𝜃5 − 𝐶𝜃5 0 0 0 0 𝑆𝜃5 − 𝐶𝜃5 𝑅𝐺5𝐷𝑆𝜃5 −𝑅𝐺5𝐷𝐶𝜃5 0 0 0 0 0 0 𝐼 5 𝛼5
2 2 2 2 𝑋12
0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0 0 0 𝑚6𝑎𝑐6𝑥
𝑋13
0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0 0
𝐿6 𝐿6 𝐿6 𝐿6 0 𝑋14 𝑚6𝑎𝑐6𝑦 + 𝑊6
0 0 0 0 0 0 0 0 0 0 − 𝑆𝜃6 𝐶𝜃6 0 0 − 𝑆𝜃6 𝐶𝜃6 0 0 0
2 2 2 2
0 𝑋15 𝐼 6 𝛼6
0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0 0
0 𝑋 16 𝑚7𝑎𝑐7𝑥
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 1 0
𝐿7 𝐿7 𝐿7 𝐿7 0 𝑋17 𝑚7𝑎𝑐7𝑦 + 𝑊7
0 0 0 0 0 0 0 0 0 0 0 0 − 2 𝑆𝜃7 2 𝐶𝜃7 0 0 − 2 𝑆𝜃7 2 𝐶𝜃7 0
0 𝑋18 𝐼 7 𝛼7
0 𝐶(𝜃8 + 90) 0 𝑚8𝑎𝑐8𝑥
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 −1 𝑋 19

[ 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 −1 𝑆(𝜃8 + 90) 0] [ 𝑇 ] [𝑚8𝑎𝑐8𝑦 + 𝑊8]

Nombre: Iván Andrés Salazar Quiroz Código: T00049430