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\documentclass[11pt,twoside,openright]{report}
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\begin{document}


\pagenumbering{arabic}



\chapter{Dados Inerciais}
\subsection{Elo do antebraço}


\begin{figure}[ht]
\centering
\includegraphics[width=150mm]{imagens/1}
\caption{Elo do antebraço}
\end{figure}


\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=55mm]{imagens/2}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=80mm]{imagens/3}
\end{minipage}
\end{figure}

\begin{figure}[h!]
\centering
\includegraphics[width=128mm]{imagens/4}
\end{figure}

\subsection{Elo do antebraço}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/5}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=80mm]{imagens/6}
\end{minipage}
\end{figure}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/7}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=80mm]{imagens/8}
\end{minipage}
\end{figure}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=90mm]{imagens/9}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=52mm]{imagens/11}
\end{minipage}
\end{figure}

\begin{figure}[ht]
\centering
\includegraphics[width=150mm]{imagens/10}
\caption{Elo do antebraço}
\end{figure}

\subsection{Extensão do ombro}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/12}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=80mm]{imagens/13}
\end{minipage}
\end{figure}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/14}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=60mm]{imagens/15}
\end{minipage}
\end{figure}

\subsection{Elo tronco}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/16}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=80mm]{imagens/17}
\end{minipage}
\end{figure}

\begin{figure}[h!]
\begin{minipage}[t]{0.50\linewidth}
\centering
\includegraphics[width=80mm]{imagens/18}
\end{minipage}
\begin{minipage}[t]{0.47\linewidth}
\centering
\includegraphics[width=75mm]{imagens/19}
\end{minipage}
\end{figure}





\begin{table}[ht]
\centering
\caption{Dimensões dos elos}
\begin{tabular}{c | c c c | c c | c c c | c c c }
\hline
$Elos$	&$ X $	&$ Y $	&$ Z $	&$ r_{elo}$	&$Massa	$&$r_{cm_x}$&$r_{cm_y}$&$r_{cm_z}$&$ J_x $&$J_y $&$J_z $\\
	&\multicolumn{3}{c |}{$[mm]$}	&$[mm]	$&$[kg]$&\multicolumn{3}{c |}{$[mm]$} &\multicolumn{3}{c}{$\times10^5 [kg.m^2]$}\\
\hline
	&	&		&	&	&&&&	&\\
Antebraço&$118$	&$24$		&$64$		&$89$		&$0.049$&$27.89$&$-2.362$&$0$&$1.919$&$4.276$&$5.901$\\
Braço	 &$158$	&$45$		&$35$		&$124$		&$0.253$&$62.87$&$-2.115$&$0$&$4.423$&$200$	 &$200$\\
Ombro	 &$54.5$&$64$		&$34$		&$43.5$		&$0.072$&$17.02$&$2.093$ &$0$&$2.141$&$1.91$ &$3.122$\\
Tronco	 &$195$	&$85.7$		&$218.5$	&$163$		&$1.852$&$1.426$&$19.07$&$96.89$&$2600$&$2800$&$600$\\

\end{tabular}
\end{table}

Onde $X, Y e Z$ são as cotas de atravancamento de cada elo.




\end{document}