digraph G {
node [shape=box];
"Base" [label="Base"];
"Conjunto_base" [label="Conjunto_base"];
"Brazo_1" [label="Brazo_1"];
"Brazo_2" [label="Brazo_2"];
"Chasis_efector" [label="Chasis_efector"];
"Gancho_efector" [label="Gancho_efector"];
"fantasma" [label="fantasma"];
"Bateria" [label="Bateria"];
"Soporte_1" [label="Soporte_1"];
"Soporte_2" [label="Soporte_2"];
"Soporte_3" [label="Soporte_3"];
"Soporte_4" [label="Soporte_4"];
"motor_1" [label="motor_1"];
"helice_1" [label="helice_1"];
"motor_2" [label="motor_2"];
"helice_2" [label="helice_2"];
"motor_3" [label="motor_3"];
"helice_3" [label="helice_3"];
"motor_4" [label="motor_4"];
"helice_4" [label="helice_4"];
node [shape=ellipse, color=blue, fontcolor=blue];
"Base" -> "BaseQuad_a_ConjuntoBase" [label="xyz: 0.00151 0.001806 -0.077 \nrpy: 0 0 -0.785398"]
"BaseQuad_a_ConjuntoBase" -> "Conjunto_base" [label="fixed", fontcolor="blue"]
"Conjunto_base" -> "Articulacion_1" [label="xyz: 0 0.026 -0.055 \nrpy: 0 -0 0"]
"Articulacion_1" -> "Brazo_1" [label="revolute X", fontcolor="blue"]
"Brazo_1" -> "Articulacion_2" [label="xyz: 0 0 -0.2 \nrpy: 0 -0 0"]
"Articulacion_2" -> "Brazo_2" [label="revolute X", fontcolor="blue"]
"Brazo_2" -> "Articulacion_3" [label="xyz: 0 0.15577 0 \nrpy: 0 -0 0"]
"Articulacion_3" -> "Chasis_efector" [label="revolute Y", fontcolor="blue"]
"Chasis_efector" -> "Articulacion_efector" [label="xyz: -0.0045 0.0095 -0.0065 \nrpy: 0 -0 0"]
"Articulacion_efector" -> "Gancho_efector" [label="revolute X", fontcolor="blue"]
"Brazo_2" -> "Articulacion_fantasma" [label="xyz: 0 0.178 -0.009 \nrpy: 0 -0 0"]
"Articulacion_fantasma" -> "fantasma" [label="continuous X", fontcolor="blue"]
"Conjunto_base" -> "Bandeja_bateria" [label="xyz: 0 -0.03 -0.011 \nrpy: 0 -0 0"]
"Bandeja_bateria" -> "Bateria" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_Soporte_1" [label="xyz: 0.2873 0 -0.242 \nrpy: 0 -0 0"]
"base_a_Soporte_1" -> "Soporte_1" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_Soporte_2" [label="xyz: 0 0.2873 -0.242 \nrpy: 0 -0 0"]
"base_a_Soporte_2" -> "Soporte_2" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_Soporte_3" [label="xyz: -0.2873 0 -0.242 \nrpy: 0 -0 0"]
"base_a_Soporte_3" -> "Soporte_3" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_Soporte_4" [label="xyz: 0 -0.2873 -0.242 \nrpy: 0 -0 0"]
"base_a_Soporte_4" -> "Soporte_4" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_motor_1" [label="xyz: 0.2873 0 0.015 \nrpy: 0 -0 0"]
"base_a_motor_1" -> "motor_1" [label="fixed", fontcolor="blue"]
"motor_1" -> "motor_a_helice_1" [label="xyz: 0 0 0.04 \nrpy: 0 -0 0"]
"motor_a_helice_1" -> "helice_1" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_motor_2" [label="xyz: 0 0.2873 0.015 \nrpy: 0 -0 1.57079"]
"base_a_motor_2" -> "motor_2" [label="fixed", fontcolor="blue"]
"motor_2" -> "motor_a_helice_2" [label="xyz: 0 0 0.04 \nrpy: 0 -0 0"]
"motor_a_helice_2" -> "helice_2" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_motor_3" [label="xyz: -0.2873 0 0.015 \nrpy: 0 -0 3.14159"]
"base_a_motor_3" -> "motor_3" [label="fixed", fontcolor="blue"]
"motor_3" -> "motor_a_helice_3" [label="xyz: 0 0 0.04 \nrpy: 0 -0 0"]
"motor_a_helice_3" -> "helice_3" [label="fixed", fontcolor="blue"]
"Base" -> "base_a_motor_4" [label="xyz: 0 -0.2873 0.015 \nrpy: 0 -0 -1.5708"]
"base_a_motor_4" -> "motor_4" [label="fixed", fontcolor="blue"]
"motor_4" -> "motor_a_helice_4" [label="xyz: 0 0 0.04 \nrpy: 0 -0 0"]
"motor_a_helice_4" -> "helice_4" [label="fixed", fontcolor="blue"]
}
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
