seminarski rad-kinematika robota

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ВИСОКА ТЕХНИЧКА ШКОЛА СТРУКОВНИХ СТУДИЈА НОВИ БЕОГРАДСеминарски рад -  Kinematika r obota-  Студент: Никола Тешић Професор: др. Весна Шотра  бр.индекса: 183/12 Јун 2015 0

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Page 1: Seminarski Rad-Kinematika Robota

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“ВИСОКА ТЕХНИЧКА ШКОЛА СТРУКОВНИХ СТУДИЈА „НОВИ БЕОГРАД“

Семинарски рад

- Kinematika robota- 

Студент: Никола Тешић Професор: др. Весна Шотра  бр.индекса: 183/12

Јун 2015

0

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Sl. 2.3. Izgled kinematički paro!a

 

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Sl. 2.4. "ota#ioni $a% i translatorni $b% zglob

 

Sl. 2.&. 'ančani sistem tela

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 Sl. 2.(. Primeri manipula#ioni robota sa odgo!arajućim kinematičkim lan#ima

 

Sl. 2.). Sema razgranatog lan#a

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Sl. 2.1. Manipula#ioni robot u zadatku monta/e

 

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Sl. 2.1). ilindrični koordinatni sistem i radni prostor 

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Sl. 2.1*. S+erna minimalna kon+igura#ija

 

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')$#/ 3 !+*')'7," N1  , N2 #4 & $4/, ($'#'$ &4/ ,& '(,/& *'(#&8 Y&4/ ($,"&$ & 4# /

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Sl. 2.1,. "adni prostor s+erne minimalne kon+igura#ije

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'/$&#/ ($,"&$ $')'# / *,<, 2821 GH8 

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Sl. 2.2. ""sema $a% i ""sema. $b% 

R4/, ($'#'$ R?R , ?RR-.&"& $')'# & >3(*, 7* ' >#' & ($,!/' / *,<, 2821 G)H8 

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'7&'7'" $3'" /!,7 & /#$'('"'$/ G'7&'*,H .&"8

 

Sl. 2.21. Primer ""robota i radni prostor 

 

Sl. 2.22. 'aktasti ili """robot 

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Sl. 2.23. ntropomor+na """ sema Sl. 2.24. "adni prostor laktastog 

robota

 

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Sl. 2.2&. S5sema

 

2.2.2. +H0 I0J ; H6 9>94

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Sl. 2.2). 6!ataljka robota

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Sl. 2.2,. 'an#i sa s+eričnim zglobo!ima

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Sl. 2.32. -elimična i potpuna orijenta#ija

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