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[null,"a1",5,{"$f":"+C1*D_R","v":8.7266462599716474E-2},"d1",50,45,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"PI()/180","v":1.7453292519943295E-2}]
[null,"a1",0,0,"d1",0,0,null,null,null,null,null,null,null,null,null,null,"Determine the coefficients of the quartic equation using FivePos Function"]
[null,"a2",30,0.52359877559829882,"d2",-5,105,null,null,null,null,null,null,null,null,null,null,"c0","c1","c2","c3"]
[null,"a3",0,0,"d3",40,115,null,null,null,null,null,null,null,null,null,null,{"$f":"Fivepos(F3:G3,F4:G4,F5:G5,F6:G6,D3,D4,D5,D6)","v":-0.18253571258017898},-2.6106497270263338,-0.64271672290391246,12.112971149865263,null,null,null,null,null,null,null,null,"Example is from the Paper"]
[null,"a4",-50,{"$f":"+C5*D_R","v":-0.87266462599716477},"d4",60,80,null,null,null,null,null,null,null,null,null,null,"Determine the roots of the quartic equation using Quartic function"]
[null,"a5",-75,-1.3089969389957472,"d5",15,65,null,null,null,null,null,null,null,null,null,null,"t1","t2","t3","t4"]
[20,null,null,null,"#1",null,"#2",null,"#3",null,"#4",null,null,null,null,null,null,{"$f":"quartic(1,U4,T4,S4,R4)","v":0.51099294553471997},-7.3028853420648909E-2,-0.40264594843402879,-12.148289293545307]
["E1",{"$f":"F1","v":50},{"$f":"G1","v":45},"CenterPoint",{"$f":"V12","v":-71.922736922013272},{"$f":"W12","v":38.461790332396809},{"$f":"V16","v":105.93797709629004},{"$f":"W16","v":66.720771470304953},{"$f":"V20","v":71.793063636953903},{"$f":"W20","v":82.807027180732931},{"$f":"V24","v":93.208475965621602},{"$f":"W24","v":130.74105383019585}]
["F1",{"$f":"B8+A7*COS(D1)","v":69.923893961834906},{"$f":"C8+A7*SIN(D1)","v":46.743114854953163},"CirclePoint",{"$f":"T12","v":-2.4248286112038144},{"$f":"U12","v":-41.888717815663568},{"$f":"T16","v":-96.545213699731278},{"$f":"U16","v":55.086043023215666},{"$f":"T20","v":-15.457971684661018},{"$f":"U20","v":42.058998448989783},{"$f":"T24","v":103.66669458632069},{"$f":"U24","v":65.306870102038602},null,null,null,null,null,"b41","b42","-Zx","-Zy","Rx","Ry"]
["E2",{"$f":"F3+F1","v":45},{"$f":"G3+G1","v":150},"P1",{"$f":"B8","v":50},{"$f":"C8","v":45},{"$f":"F1","v":50},{"$f":"G1","v":45},{"$f":"G10","v":50},{"$f":"H10","v":45},{"$f":"I10","v":50},{"$f":"J10","v":45},null,null,"b21",{"$f":"ATAN2((1-R7^2),2*R7)","v":0.94480648125299571},null,{"$f":"Burmester($F$3:$G$3,$F$4:$G$4,$F$5:$G$5,$D$3,$D$4,$D$5,P10)","v":1.651803926066514},5.5950105487752246,{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P10,R10)","v":-59.798187048465522},-81.988955135925693,-122.0286266183642,4.1129368883868977]
["F2",{"$f":"B10+A7*COS(D3+D1)","v":61.383040885779835},{"$f":"C10+A7*SIN(D3+D1)","v":161.47152872702091},null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"P10/D_R","v":54.133423832402791},null,{"$f":"R10/D_R","v":94.64139354675072},{"$f":"S10/D_R","v":320.57049077599498},{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P10,S10)","v":356.45206200345501},-133.92638319531,68.866149836999,30.560021036500558]
["E3",{"$f":"F4+F1","v":90},{"$f":"G4+G1","v":160},null,null,null,null,null,null,null,null,null,null,null,null,"Rotate+Translate",null,null,null,{"$f":"CRotate_Trans($F$1:$G$1,T10:U10,$D$1)","v":-2.4248286112038144},-41.888717815663568,{"$f":"CRotate_Trans($F$1:$G$1,V10:W10,$D$1)","v":-71.922736922013272},38.461790332396809]
["F3",{"$f":"B12+A7*COS(D1)","v":109.92389396183491},{"$f":"C12+A7*SIN(D1)","v":161.74311485495318},null,null,null,null,null,null,null,null,null,null,null,"b22",{"$f":"ATAN2((1-S7^2),2*S7)","v":-0.14579888224994511},null,{"$f":"Burmester($F$3:$G$3,$F$4:$G$4,$F$5:$G$5,$D$3,$D$4,$D$5,P13)","v":5.9916179266491065},5.1126246500582821,{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P13,R13)","v":-69.396383309816045},-37.093813515432778,457.37983927214015,-155.8638039787227]
["E4",{"$f":"F5+F1","v":110},{"$f":"G5+G1","v":125},null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"P13/D_R","v":-8.3536606106467062},null,{"$f":"R13/D_R","v":343.29441965191864},{"$f":"S13/D_R","v":292.93181468288901},{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P13,S13)","v":-145.10850834732091},22.819919530567052,57.618206175848201,16.762801435551594]
["F4",{"$f":"B14+A7*COS(D5+D1)","v":124.14213562373095},{"$f":"C14+A7*SIN(D5+D1)","v":110.85786437626905},null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"360+P14","v":351.64633938935327},null,null,{"$f":"S14-360","v":-67.068185317110988}]
["E5",{"$f":"F6+F1","v":65},{"$f":"G6+G1","v":110},null,null,null,null,null,null,null,null,null,null,null,null,"Rotate+Translate",null,null,null,{"$f":"CRotate_Trans($F$1:$G$1,T14:U14,$D$1)","v":-96.545213699731278},55.086043023215666,{"$f":"CRotate_Trans($F$1:$G$1,V14:W14,$D$1)","v":105.93797709629004},66.720771470304953]
["F5",{"$f":"B16+A7*COS(D6+D1)","v":71.840402866513372},{"$f":"C16+A7*SIN(D6+D1)","v":91.206147584281837},null,null,null,null,null,null,null,null,null,null,null,"b23",{"$f":"ATAN2((1-T7^2),2*T7)","v":-0.76557056785499833},null,{"$f":"Burmester($F$3:$G$3,$F$4:$G$4,$F$5:$G$5,$D$3,$D$4,$D$5,P17)","v":5.0836699730437331},4.4142626516817298,{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P17,R17)","v":-43.148542421558773},-30.449239692779791,73.516824066742984,-6.5719758626239404]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"P17/D_R","v":-43.863962457525211},null,{"$f":"R17/D_R","v":291.27283389279086},{"$f":"S17/D_R","v":252.91861960359051},{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P17,S17)","v":-65.465209514699225},2.7752279887358298,25.005233985327166,35.763769380030958]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"360+P18","v":316.13603754247481},null,{"$f":"R18-360","v":-68.727166107209143},{"$f":"S18-360","v":-107.08138039640949}]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Rotate+Translate",null,null,null,{"$f":"CRotate_Trans($F$1:$G$1,T18:U18,$D$1)","v":-15.457971684661018},42.058998448989783,{"$f":"CRotate_Trans($F$1:$G$1,V18:W18,$D$1)","v":71.793063636953903},82.807027180732931]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,"b24",{"$f":"ATAN2((1-U7^2),2*U7)","v":-2.9773307617846618},null,{"$f":"Burmester($F$3:$G$3,$F$4:$G$4,$F$5:$G$5,$D$3,$D$4,$D$5,P21)","v":3.9996915844771275},0.96144787874801407,{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P21,R21)","v":-1.0602484016722222},-84.053042060061856,22.287292294808779,-27.717404041446564]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"P21/D_R","v":-170.58848686473141},null,{"$f":"R21/D_R","v":229.16544714453238},{"$f":"S21/D_R","v":55.086905674066919},{"$f":"ThreePosition_Basic2(D3,D5,F3:G3,F5:G5,P21,S21)","v":55.232336957625051},15.552235703006136,50.516879900114525,81.648916418661969]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"360+P22","v":189.41151313526859}]
[null,null,null,null,null,null,null,null,null,null,null,null,null,null,"Transform","Rotate+Translate",null,null,null,{"$f":"CRotate_Trans($F$1:$G$1,T22:U22,$D$1)","v":103.66669458632069},65.306870102038602,{"$f":"CRotate_Trans($F$1:$G$1,V22:W22,$D$1)","v":93.208475965621602},130.74105383019585]
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[null,{"$f":"C38*D_R","v":8.7266462599716474E-2},{"$f":"C1","v":5},{"$f":"50","v":50},45]
[null,null,{"$f":"C3+$C$38","v":35},{"$f":"$D$38+F3","v":45},{"$f":"$E$38+G3","v":150},null,null,{"$f":"((D39-$D$38)*COS($B$38))-(E39-$E$38)*SIN($B$38)","v":-14.132326478962835},{"$f":"((D39-$D$38)*SIN($B$38))+(E39-$E$38)*COS($B$38)","v":104.164664585895}]
[null,null,{"$f":"C4+$C$38","v":5},{"$f":"$D$38+F4","v":90},{"$f":"$E$38+G4","v":160},null,null,{"$f":"((D40-$D$38)*COS($B$38))-(E40-$E$38)*SIN($B$38)","v":29.824877507689131},{"$f":"((D40-$D$38)*SIN($B$38))+(E40-$E$38)*COS($B$38)","v":118.04861999045707}]
[null,null,-45,110,125,null,null,52.799222465692083,84.924920412199128]
[null,null,-70,65,110,null,null,9.2777971927784026,66.059991517178332]

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[null,"A0",{"$f":"Synthesis!$E$8:$F$10","v":-70.888941578720406},27.860403499854709,"B0",{"$f":"Synthesis!$G$8:$H$10","v":103.83202623475444},71.513433318808637,null,{"$f":"Synthesis!A8:C17","v":"E1"},50,45]
[null,"A",5.3475144267671126,-46.127204887982884,"B",-96.866621489457543,42.275405638336387,null,"F1",69.923893961834906,46.743114854953163]
[null,"C",50,45,"C",50,45,null,"E2",35.867673521037162,149.164664585895]
[null,null,null,null,null,null,null,null,"F2",52.250714406816996,160.63619331291591]
["Link lengths",null,"İnitial Angles",null,null,null,null,null,"E3",79.824877507689138,163.04861999045707]
["A0A",{"$f":"mag((C2-C3),(D2-D3))","v":106.23635639096746},"<xA0A",{"$f":"ATAN2((C3-C2),(D3-D2))","v":-0.77042932561028343},{"$f":"D7/D_R","v":-44.14234877057951},null,null,null,"F3",99.748771469524044,164.79173484541025]
["AC",{"$f":"mag((C3-C4),(D3-D4))","v":101.47912070255725},"<xAB",{"$f":"ATAN2((F3-C3),(G3-D3))","v":2.4285251286345693},{"$f":"D8/D_R","v":139.14424031222617},null,null,null,"E4",102.79922246569208,129.92492041219913]
["B0B",{"$f":"mag((F2-F3),(G2-G3))","v":202.81718236128665},"<xB0B",{"$f":"ATAN2((F3-F2),(G3-G2))","v":-2.9969290855621407},{"$f":"D9/D_R","v":-171.71138810271182},null,null,null,"F4",116.94135808942303,115.78278478846818]
["BC",{"$f":"mag((F3-F4),(G3-G4))","v":146.89189195514911},"Fixed Angles",null,null,null,null,null,"E5",59.277797192778401,111.05999151717833]
["AB",{"$f":"mag((C3-F3),(D3-G3))","v":135.13974666606617},"<xAoBo",{"$f":"ATAN2((F2-C2),(G2-D2))","v":0.24483207305609164},{"$f":"D11/D_R","v":14.027844475552691},null,null,null,"F5",66.11820005929178,92.266139101460169]
["A0B0",{"$f":"mag((C2-F2),(D2-G2))","v":180.09165334920934},"<BAC",{"$f":"D8-ATAN2((C4-C3),(D4-D3))","v":1.3133458282244816},{"$f":"D12/D_R","v":75.249172998376395}]
[null,null,"<ACD",{"$f":"ATAN2((C4-C3),(D4-D3))-Synthesis!D1","v":1.0279128378103712},{"$f":"D13/D_R","v":58.895067313849779}]
[]
["q",{"$f":"A19+0.01*A20","v":67},{"$f":"B15*D_R","v":1.1693705988362009},"wr to fixed Link",null,"wr to x axis",null,"In degrees"]
["q'",{"$f":"B15+E7","v":22.85765122942049},{"$f":"B16*D_R","v":0.39894127322591733},"q13","q14","q13","q14","q13","q14"]
["q\"",{"$f":"B16-E11","v":8.8298067538677998},{"$f":"B17*D_R","v":0.15410920016982566},{"$f":"FourBar2(B7,B11,B9,B12,1,C17)","v":2.3124495049119655},2.5330020841585448,{"$f":"D17+$D$11","v":2.5572815779680571},{"$f":"E17+$D$11","v":2.7778341572146363},{"$f":"F17/D_R","v":146.52144144412503},{"$f":"G17/D_R","v":159.15817339567866}]
[]
[67,"A0",{"$f":"C2","v":-70.888941578720406},{"$f":"D2","v":27.860403499854709}]
[0,"A",{"$f":"C19+B7*COS(C16)","v":27.00496752466961},{"$f":"D19+B7*SIN(C16)","v":69.127169543317166},null,null,54.133423832402791]
[null,"B",{"$f":"C27+B9*COS(G17)","v":-85.714056164611463},{"$f":"D27+B9*SIN(G17)","v":143.67361699390887}]
[null,"C",{"$f":"C20+B8*COS(F17-D12)","v":59.587011828340607},{"$f":"D20+B8*SIN(F17-D12)","v":165.23347697190275}]
[null,"A",{"$f":"C20","v":27.00496752466961},{"$f":"D20","v":69.127169543317166}]
[null,"C",{"$f":"C22","v":59.587011828340607},{"$f":"D22","v":165.23347697190275}]
[null,"D",{"$f":"C24+20*COS(F17-D12-D13)","v":79.122164778052365},{"$f":"D24+20*SIN(F17-D12-D13)","v":169.52041051831654}]
[null,"B",{"$f":"C21","v":-85.714056164611463},{"$f":"D21","v":143.67361699390887}]
[null,"B0",{"$f":"F2","v":103.83202623475444},{"$f":"G2","v":71.513433318808637}]

{"sheet":"Synthesis","index":2,"n_rows":42,"n_cols":30,"rows_kept":42,"cut":false,"hidden":false,"merged":[]}
[null,"a1",5,{"$f":"+C1*D_R","v":8.7266462599716474E-2},"d1",50,45,null,null,null,null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"PI()/180","v":1.7453292519943295E-2}]
[null,"a1",0,0,"d1",0,0,null,null,null,null,null,null,null,null,null,null,"Determine the coefficients of the quartic equation using FivePos Function"]
[null,"a2",30,0.52359877559829882,"d2",-14.132326478962835,104.164664585895,null,null,null,null,null,null,null,null,null,null,"c0","c1","c2","c3"]
[null,"a3",0,0,"d3",29.824877507689131,118.04861999045707,null,null,null,null,null,null,null,null,null,null,{"$f":"Fivepos(F3:G3,F4:G4,F5:G5,F6:G6,D3,D4,D5,D6)","v":-0.18253571258020507},-2.6106497270263551,-0.64271672290402682,12.112971149865068,null,null,null,null,null,null,null,null,"Example is from the Paper"]
[null,"a4",-50,-0.87266462599716477,"d4",52.799222465692083,84.924920412199128,null,null,null,null,null,null,null,null,null,null,"Determine the roots of the quartic equation using Quartic function"]
[null,"a5",-75,-1.3089969389957472,"d5",9.2777971927784026,66.059991517178332,null,null,null,null,null,null,null,null,null,null,"t1","t2","t3","t4"]
[20,null,null,null,"#1",null,"#2",null,"#3",null,"#4",null,null,null,null,null,null,{"$f":"quartic(1,U4,T4,S4,R4)","v":0.51099294553473995},-7.3028853420665341E-2,-0.40264594843402346,-12.148289293545119]
["E1",{"$f":"F1","v":50},{"$f":"G1","v":45},"CenterPoint",{"$f":"V12","v":-70.888941578720406},{"$f":"W12","v":27.860403499854709},{"$f":"V16","v":103.83202623475444},{"$f":"W16","v":71.513433318808637},{"$f":"V20","v":68.415034915292296},{"$f":"W20","v":84.562550676082026},{"$f":"V24","v":85.571229439039186},{"$f":"W24","v":134.18065005021822}]
["F1",{"$f":"B8+A7*COS(D1)","v":69.923893961834906},{"$f":"C8+A7*SIN(D1)","v":46.743114854953163},"CirclePoint",{"$f":"T12","v":5.3475144267671126},{"$f":"U12","v":-46.127204887982884},{"$f":"T16","v":-96.866621489457543},{"$f":"U16","v":42.275405638336387},{"$f":"T20","v":-14.952559165499096},{"$f":"U20","v":36.365151706872041},{"$f":"T24","v":101.69261626437819},{"$f":"U24","v":69.906956957971204},null,null,null,null,null,"b41","b42","-Zx","-Zy","Rx","Ry"]
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