{"text_format":"1","workbook":"xlsx","n_sheets":1,"sheets":["SixLink"],"not_rendered":{"charts":1,"images":1,"macros":1,"external_links":0,"defined_names":12,"comments":0,"pivot_tables":0},"unopened":[],"bounds":{"document_bytes":16777216,"sheet_cells":100000,"rows_first":2000,"rows_last":500,"rows_between":2000,"halvings":0,"cell_chars":16384,"cell_head_chars":4096},"cells_cut":0,"cells_raw":0,"read":"whole","date_system":"1900"}

{"sheet":"SixLink","index":0,"n_rows":100,"n_cols":17,"rows_kept":100,"cut":false,"hidden":false,"merged":[]}
[null,null,null,null,null,null,{"$f":"+PI()/180","v":1.7453292519943295E-2},null,2,null,null,"A0",0,0]
["Crank",50,"A0A Link2",null,null,null,null,null,null,null,null,"A",{"$f":"+Crank*COS(A26*D_R)","v":-43.30127018922196},{"$f":"+Crank*SIN(A26*D_R)","v":-24.999999999999957}]
["Coupler",217,"AB Link3",null,null,null,null,null,null,null,null,"B0",{"$f":"+Fixed","v":-108},0]
["Rocker",217,"B0B Link4",null,null,null,null,null,null,null,null,"B",{"$f":"+M3+Rocker*COS(K26*PI()/180)","v":1.5582103148851161},{"$f":"+N3+Rocker*SIN(PI()*K26/180)","v":187.31256912604505}]
["Fixed",-108,"B0A0 Link1",null,null,null,null,null,null,null,null,null,{"$f":"+M2","v":-43.30127018922196},{"$f":"+N2","v":-24.999999999999957}]
[]
["BP",217]
[null,null,null,null,null,null,null,null,null,null,null,"P",{"$f":"+M3+Rocker*COS(K26*PI()/180)","v":1.5582103148851161},{"$f":"+N3+Rocker*SIN(PI()*K26/180)","v":187.31256912604505}]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"M4+B7*COS((J26+80)*PI()/180)","v":-199.73908678176102},{"$f":"N4+B7*SIN((J26+80)*PI()/180)","v":268.35822404711155}]
[]
[null,null,null,null,null,null,null,null,null,null,null,"C2",0,0]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"+Crank*COS((A26-100)*D_R)","v":-17.101007166283402},{"$f":"+Crank*SIN((A26-100)*D_R)","v":46.984631039295429}]
[]
[null,null,null,null,null,null,null,null,null,null,null,"B1",{"$f":"+Crank*COS((A26-100)*D_R)","v":-17.101007166283402},{"$f":"+Crank*SIN((A26-100)*D_R)","v":46.984631039295429}]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"M14+B7*COS((K26+80)*PI()/180)","v":-182.5432939086177},{"$f":"N14+B7*SIN((K26+80)*PI()/180)","v":187.40489224638495}]
[]
[null,null,null,null,null,null,null,null,null,null,null,"P\"",{"$f":"M14+B7*COS((K26+80)*PI()/180)","v":-182.5432939086177},{"$f":"N14+B7*SIN((K26+80)*PI()/180)","v":187.40489224638495}]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"+M17+B7*COS(K26*PI()/180)","v":-72.985083593732583},{"$f":"N17+B7*SIN(K26*PI()/180)","v":374.71746137242997}]
[]
[null,null,null,null,null,null,null,null,null,null,null,"Joint link",{"$f":"+$M$17+$B$7*COS($K$26*PI()/180)","v":-72.985083593732583},{"$f":"$N$17+$B$7*SIN($K$26*PI()/180)","v":374.71746137242997}]
[null,null,null,null,null,null,null,null,null,null,null,null,{"$f":"$M$4+$B$7*COS(($J$26+80)*PI()/180)","v":-199.73908678176102},{"$f":"$N$4+$B$7*SIN(($J$26+80)*PI()/180)","v":268.35822404711155}]
[]
[]
[null,null,null,null,null,null,null,null,null,null,null,"Joint Link Length",null,{"$f":"SQRT((M20-M21)^2+(N20-N21)^2)","v":165.46559971369919}]
["q12","Sx","Sy","S","f","y","m","q14","q13","q14(deg)","q13(deg)",null,"P",null,null,"P\""]
[570,{"$f":"Crank*COS(A26*D_R)-Fixed","v":64.698729810778048},{"$f":"Crank*SIN(A26*D_R)","v":-24.999999999999957},{"$f":"+SQRT(B26^2+C26^2)","v":69.360836493860546},{"$f":"ATAN2(B26,C26)","v":-0.36873306730557875},{"$f":"ACOS((Link4^2+D26^2-Coupler^2)/(2*D26*Link4))","v":1.4102904560510297},{"$f":"ACOS((Coupler^2+Link4^2-D26^2)/(2*Coupler*Link4))","v":0.32101174148773381},{"$f":"+E26-F26","v":-1.7790235233566083},{"$f":"+H26-G26","v":-2.1000352648443421},{"$f":"H26/D_R+180","v":78.069460457172909},{"$f":"I26/D_R+180","v":59.676842495781131},null,-115.00259634733384,265.76414535477147,null,-241.75659953536228,159.40490802945311]
[10,157.24038765061039,8.6824088833465165,{"$f":"+SQRT(B27^2+C27^2)","v":157.4799153305965},{"$f":"ATAN2(B27,C27)","v":5.5161406073505136E-2},1.1994643515440737,0.74266395050164569,{"$f":"+E27-F27","v":-1.1443029454705687},{"$f":"+H27-G27","v":-1.8869668959722143},114.43627074014763,71.884760779890655,null,-119.4331365610571,262.10291637992765,null,-246.1871397490855,155.74367905460937]
[20,154.98463103929544,17.101007166283434,155.92523947227986,0.10989546851217565,1.2033056928161197,0.73498126795755381,-1.0934102243039441,-1.8283914922614979,117.35220887093134,75.240884195789661,null,-123.92269473942048,258.5044631846298,null,-250.676697927449,152.1452258593113]
[30,151.30127018922195,24.999999999999996,153.35277748013547,0.16375367450552419,1.2096493924504121,0.72229386868896861,-1.045895717944888,-1.7681895866338566,120.07458955095277,78.690199306898378,null,-128.47387235942878,254.9649167835727,null,-255.22787554745727,148.60567945825434]
[40,146.3022221559489,32.139380484326963,149.79078738589021,0.21624315558501234,1.2184083124814924,0.70477602862680866,-1.00216515689648,-1.7069411855232888,122.58016613476573,82.199474192458297,null,-133.08819396881302,251.48030376129003,null,-259.84219715684151,145.12106643597147]
[50,140.13938048432698,38.302222155948904,145.27940729716181,0.26679918774520489,1.2294615326371303,0.68266958831553248,-0.96266234489192537,-1.6453319332074579,124.84351054152543,85.729424329112007,null,-137.76590290228,248.04689130475379,null,-264.5199060903085,141.6876539794354]
[60,133,43.301270189221931,139.87136947924691,0.3147504866401753,1.2426548147659711,0.65628302405785077,-0.92790432812579571,-1.5841873521836465,126.83499820646962,89.232750761872097,null,-142.50579089865539,244.66157258381713,null,-269.25979408668388,138.30233525849852]
[70,125.10100716628344,46.984631039295415,133.63314539408708,0.35927342547880409,1.257800307021828,0.62599203954613736,-0.89852688154302385,-1.5245189210891612,128.51820190853346,92.651500033753265,null,-147.30506037696244,241.32229295730093,null,-274.05906356499088,134.96305563198246]
[80,116.68240888334653,49.240387650610401,126.64675407922167,0.39932986947558546,1.2746747465450265,0.59224316049973957,-0.87534487706944109,-1.4675880375691808,129.84643292552315,95.913399383399039,null,-152.15921723030166,238.02851818496174,null,-278.91322041833018,131.66928085964315]
[90,108,50,119.01260437449471,0.43358148395176183,1.2930151159005778,0.55556242178863724,-0.85943363194881606,-1.4149960537374533,130.7580801177331,98.926698093177293,null,-157.06199084822532,234.78174678487744,null,-283.81599403625381,128.42250945955897]
[100,99.317591116653489,49.240387650610401,110.85395654281876,0.46027167067509639,1.3125102436920613,0.51657216620567059,-0.85223857301696482,-1.3688107392226354,131.17032662787608,101.57292169036066,null,-162.00527662142795,231.5860699087589,null,-288.75927980945642,125.22683258344041]
[110,90.898992833716562,46.984631039295422,102.32390948396556,0.47706683198804678,1.3327861392877649,0.47602037501426309,-0.85571930729971812,-1.3317396823139811,130.9708952438678,103.69693679331584,null,-166.97909432388298,228.44878362227774,null,-293.73309751191141,122.08954629695923]
[120,83.000000000000014,43.301270189221938,93.616237907747632,0.48085813368968783,1.3533819254436721,0.4348288027024485,-0.87252379175398431,-1.3073525944564328,130.00806920774517,105.0942140021681,null,-171.97155336822891,225.38106026382778,null,-298.72555655625735,119.0218229385093]
[130,75.860619515673022,38.302222155948904,84.98172636152654,0.46756197300907826,1.3737125171316045,0.3941676193265844,-0.90615054412252616,-1.3003181634491106,128.08139821829616,105.49725721016362,null,-176.96881278969838,222.39868756900358,null,-303.7228159777269,116.03945024368511]
[140,69.697777844051103,32.139380484326971,76.751026145029741,0.43206678163849355,1.3930156345802283,0.3555613844293366,-0.96094885294173471,-1.3165102373710713,124.94168639850099,104.56951971287143,null,-181.95501964861845,219.52288638245491,null,-308.70902283664697,113.16364905713658]
[150,64.698729810778062,24.999999999999996,69.360836493860575,0.36873306730557925,1.4102904560510297,0.32101174148773404,-1.0415573887454503,-1.3625691302331844,120.3231575042189,101.93053954282712,null,-186.91220395850016,216.78121981418332,null,-313.66620714652868,110.4219824888649]
[160,61.015368960704585,17.101007166283445,63.366550288872361,0.27326254700998603,1.4242666581387504,0.2930593373122925,-1.1510041111287643,-1.4440634484410568,114.05232223011501,97.261259055219881,null,-191.8201007128244,214.20860821776023,null,-318.57410390085289,107.8493708924418]
[170,58.759612349389599,8.682408883346513,59.397611631008814,0.14669999695142832,1.4335045741810057,0.27458350522778185,-1.2868045772295775,-1.5613880824573594,106.27152866662901,90.539052693168742,null,-196.65585939544542,211.84846461967084,null,-323.40986258347385,105.4892272943523]
[180,58,6.1257422745431001E-15,58,1.0561624611281207E-16,1.4367547434531867,0.26808316668342003,-1.4367547434531867,-1.7048379101366067,97.680017004731056,82.31998299526893,null,-201.39358762819694,209.75396288714953,null,-328.14759081622543,103.39472556183102]
[190,58.759612349389599,-8.6824088833465236,59.397611631008814,-0.14669999695142849,1.4335045741810057,0.27458350522778185,-1.5802045711324342,-1.854788076360216,89.460947306831244,73.728471333370962,null,-206.00365729251735,207.9894437108824,null,-332.75766048054589,101.63020638556405]
[200,61.015368960704578,-17.101007166283434,63.366550288872354,-0.27326254700998598,1.4242666581387504,0.29305933731229206,-1.6975292051487365,-1.9905885424610286,82.738740944780105,65.947677769885004,null,-210.4516775150349,206.63194756842523,null,-337.20568070306331,100.27271024310674]
[210,64.698729810778076,-25.000000000000007,{"$f":"+SQRT(B47^2+C47^2)","v":69.360836493860589},{"$f":"ATAN2(B47,C47)","v":-0.36873306730557925},1.4102904560510294,0.32101174148773404,{"$f":"+E47-F47","v":-1.7790235233566087},{"$f":"+H47-G47","v":-2.100035264844343},78.069460457172895,59.676842495781088,null,-214.69700870064923,205.77283291020962,null,-341.45101188867767,99.413595584891084]
[220,69.697777844051103,-32.139380484326963,{"$f":"+SQRT(B48^2+C48^2)","v":76.751026145029741},{"$f":"ATAN2(B48,C48)","v":-0.43206678163849344},1.3930156345802283,0.3555613844293366,{"$f":"+E48-F48","v":-1.8250824162187218},{"$f":"+H48-G48","v":-2.1806438006480584},75.430480287128574,55.058313601499009,null,-218.69065609020336,205.5193817219733,null,-345.44465927823182,99.160144396654871]
[230,75.860619515673022,-38.302222155948897,84.981726361526526,-0.46756197300907815,1.3737125171316042,0.39416761932658417,-1.8412744901406823,-2.2354421094672663,74.50274278983639,51.91860178170387,null,-218.69065609020336,205.5193817219733,null,-345.44465927823182,99.160144396654871]
[240,82.999999999999972,-43.301270189221917,93.616237907747575,-0.48085813368968783,1.3533819254436723,0.4348288027024485,-1.8342400591333601,-2.2690688618358088,74.905785997831927,49.991930792254834,null,-222.37234433268009,205.99619759499095,null,-349.12634752070858,99.636960269672699]
[250,90.898992833716576,-46.984631039295422,102.32390948396556,-0.47706683198804678,1.3327861392877649,0.47602037501426309,-1.8098529712758116,-2.2858733462900744,76.303063206684186,49.029104756132227,null,-225.66654808056381,207.34604021804708,null,-352.42055126859225,100.98680289272855]
[260,99.317591116653489,-49.240387650610401,110.85395654281876,-0.46027167067509639,1.3125102436920613,0.51657216620567059,-1.7727819143671577,-2.2893540805728283,78.427078309639342,48.829673372123921,null,-228.47726459003897,209.72948339917374,null,-355.23126777806749,103.37024607385545]
[270,107.99999999999999,-50,119.0126043744947,-0.43358148395176188,1.293015115900578,0.55556242178863724,-1.72659659985234,-2.2821590216409771,81.073301906822707,49.241919882266899,null,-230.68141765193707,213.32239601186626,null,-357.43542083996556,106.96315868654786]
[280,116.6824088833465,-49.240387650610408,126.64675407922164,-0.39932986947558557,1.2746747465450268,0.59224316049973957,-1.6740046160206123,-2.2662477765203519,84.086600616600961,50.153567074476854,null,-232.12107928126278,218.30970482155939,null,-358.87508246929127,111.95046749624098]
[290,125.10100716628345,-46.984631039295415,133.63314539408711,-0.35927342547880409,1.257800307021828,0.62599203954613736,-1.6170737325006321,-2.2430657720467693,87.34849996624672,51.481798091466544,null,-232.5953527211712,224.87324362729242,null,-359.34935590919963,118.51400630197384]
[300,133,-43.301270189221931,139.87136947924691,-0.3147504866401753,1.2426548147659711,0.65628302405785077,-1.5574053014061464,-2.2136883254639974,90.767249238127917,53.165001793530379,null,-231.85400244056362,233.17092462201961,null,-358.60800562859208,126.81168729670111]
[310,140.13938048432698,-38.302222155948904,145.27940729716181,-0.26679918774520489,1.2294615326371303,0.68266958831553248,-1.4962607203823353,-2.1789303086978675,94.270575670887993,55.156489458474582,null,-229.59693119767303,243.30451780997106,null,-356.35093438570152,136.94528048465264]
[320,146.3022221559489,-32.139380484326978,149.79078738589021,-0.21624315558501245,1.2184083124814924,0.70477602862680866,-1.4346514680665048,-2.1394274966933136,97.800525807541675,57.419833865234253,null,-225.48623026951012,255.27504054809756,null,-352.24023345753858,148.91580322277918]
[330,151.30127018922192,-25.000000000000021,153.35277748013544,-0.16375367450552439,1.2096493924504124,0.7222938686889685,-1.3734030669559367,-2.0956969356449053,101.30980069310161,59.925410449047234,null,-219.17961856578586,268.92961936853828,null,-345.93362175381435,162.57038204321981]
[340,154.98463103929544,-17.101007166283431,155.92523947227986,-0.10989546851217562,1.2033056928161197,0.73498126795755381,-1.3132011613282952,-2.0481824292858493,104.75911580421035,62.647791129068651,null,-210.3927550690014,283.91260048366809,null,-337.14675825702989,177.55336315834961]
[350,157.24038765061039,-8.6824088833465201,157.4799153305965,-5.5161406073505156E-2,1.1994643515440737,0.74266395050164569,-1.2546257576175788,-1.9972897081192245,108.11523922010934,65.563729259852366,null,-198.98888921342561,299.64447105927718,null,-325.74289240145407,193.28523373395856]
[360,158,-1.22514845490862E-14,158,-7.7541041449912658E-17,1.1981780298011488,0.74523659398749542,-1.1981780298011488,-1.9434146237886443,111.349455787094,68.650544212906013,null,-185.07566181773871,315.35669389678003,null,-311.8296650057672,208.99745657146141]
[null,null,null,null,null,null,null,null,null,null,null,null,-185.07566181773871,315.35669389678003,null,-311.8296650057672,208.99745657146141]
[null,null,null,null,null,null,null,null,null,null,null,null,-169.06813007467949,330.19693940985928,null,-295.82213326270801,223.83770208454081]
[null,null,null,null,null,null,null,null,null,null,null,null,-151.67366252066665,343.38429918753695,null,-278.42766570869514,237.02506186221837]
[null,null,null,null,null,null,null,null,null,null,null,null,-133.78413707051158,354.35775453340227,null,-260.53814025854012,247.99851720808363]
[null,null,null,null,null,null,null,null,null,null,null,null,-116.31100843408852,362.85655938553776,null,-243.06501162211697,256.4973220602194]
[null,null,null,null,null,null,null,null,null,null,null,null,-100.02982963504844,368.90816331517078,null,-226.78383282307692,262.54892598985242]
[null,null,null,null,null,null,null,null,null,null,null,null,-85.487562918957664,372.74787068725686,null,-212.24156610698611,266.38863336193839]
[null,null,null,null,null,null,null,null,null,null,null,null,-72.985083593732398,374.71746137243008,null,-199.73908678176093,268.35822404711143]
[null,null,null,null,null,null,null,null,null,null,null,null,-62.613506148173826,375.18056264122373,null,-189.36750933620232,268.82132531590526]
[null,null,null,null,null,null,null,null,null,null,null,null,-54.313151447303881,374.46977296166796,null,-181.06715463533232,268.1105356363496]
[null,null,null,null,null,null,null,null,null,null,null,null,-47.931684262777509,372.86295824833678,null,-174.68568745080597,266.50372092301836]
[null,null,null,null,null,null,null,null,null,null,null,null,-43.270138498715312,370.57913122779712,null,-170.02414168674366,264.21989390247876]
[null,null,null,null,null,null,null,null,null,null,null,null,-40.114557464337793,367.78456147590373,null,-166.86856065236628,261.42532415058531]
[null,null,null,null,null,null,null,null,null,null,null,null,-38.255399940508681,364.60266550087783,null,-165.0094031285372,258.2434281755593]
[null,null,null,null,null,null,null,null,null,null,null,null,-37.498096937660705,361.12411039832921,null,-164.25210012568911,254.76487307301076]
[null,null,null,null,null,null,null,null,null,null,null,null,-37.667843423197354,357.41555706553203,null,-164.42184661122573,251.05631974021367]
[null,null,null,null,null,null,null,null,null,null,null,null,-38.610933709822802,353.52659349046701,null,-165.36493689785127,247.16735616514856]
[null,null,null,null,null,null,null,null,null,null,null,null,-40.19419050993443,349.49494211957551,null,-166.94819369796289,243.13570479425709]
[null,null,null,null,null,null,null,null,null,null,null,null,-42.303453841576356,345.35022405021277,null,-169.05745702960476,238.99098672489441]
[null,null,null,null,null,null,null,null,null,null,null,null,-44.841696202829581,341.11659724228082,null,-171.5956993908581,234.75735991696234]
[null,null,null,null,null,null,null,null,null,null,null,null,-47.727075621612471,336.81455215597481,null,-174.48107880964099,230.45531483065631]
[null,null,null,null,null,null,null,null,null,null,null,null,-50.891084018107392,332.46209414847414,null,-177.64508720613588,226.10285682315572]
[null,null,null,null,null,null,null,null,null,null,null,null,-54.276859191319772,328.07548868939568,null,-181.03086237934821,221.71625136407724]
[null,null,null,null,null,null,null,null,null,null,null,null,-57.837679705698207,323.66970055126455,null,-184.59168289372664,217.31046322594622]
[null,null,null,null,null,null,null,null,null,null,null,null,-61.535636744854685,319.25862301385393,null,-188.28963993288312,212.89938568853552]
[null,null,null,null,null,null,null,null,null,null,null,null,-65.340465488956568,314.85516677535719,null,-192.09446867698506,208.49592945003863]
[null,null,null,null,null,null,null,null,null,null,null,null,-69.228514651582074,310.47125897267068,null,-195.98251783961064,204.11202164735209]
[null,null,null,null,null,null,null,null,null,null,null,null,-73.181832890006618,306.11778878369046,null,-199.93583607803509,199.75855145837215]
[null,null,null,null,null,null,null,null,null,null,null,null,-77.187352819933508,301.80452609483586,null,-203.94135600796199,195.44528876951748]
[null,null,null,null,null,null,null,null,null,null,null,null,-81.236156171260461,297.54003256156693,null,-207.99015935928907,191.18079523624846]
[null,null,null,null,null,null,null,null,null,null,null,null,-85.322806595428176,293.33157924492286,null,-212.0768097834567,186.97234191960439]
[null,null,null,null,null,null,null,null,null,null,null,null,-89.444739460137441,289.18508127575615,null,-216.1987426481659,182.82584395043762]
[null,null,null,null,null,null,null,null,null,null,null,null,-93.601700495849329,285.10505725522853,null,-220.35570368387778,178.74581992991006]
[null,null,null,null,null,null,null,null,null,null,null,null,-97.795227334287716,281.09461904747224,null,-224.54923052231615,174.73538172215365]
[null,null,null,null,null,null,null,null,null,null,null,null,-102.02816979351776,277.15549605285264,null,-228.78217298154624,170.79625872753414]
[null,null,null,null,null,null,null,null,null,null,null,null,-106.30424623137816,273.28809682964396,null,-233.05824941940662,166.92885950432554]
[null,null,null,null,null,null,null,null,null,null,null,null,-110.62763443316175,269.49160996777539,null,-237.38163762119021,163.132372642457]
[null,null,null,null,null,null,null,null,null,null,null,null,-115.00259634733384,265.76414535477147,null,-241.75659953536228,159.40490802945311]