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My answer got lost too. I would advise to use the graphics primitives, such as `Line`, instead of `ParametricPlot` when you are simply drawing a few straight lines. `ParametricPlot` is for curves. Your code would also be cleaner.
**Plot3D** generates a **3D suface**( or several surfaces at the same time) ,only **ParametricPlot3D** gives you parametric **3D** curve (trajectory) ,or parametric **3D** surface.
It seems that your CinematicaInversa goes wrong. See notebook. And I think you should use Map instead of Apply in the last statement. That is for a first suggestion because I have to leave now.