9818247260

9818247260



Example of geometrical model of a manipulator of SCARA (RRPR) kinematic structure

aj= 0.5 m a2=0.35 m


Link No.

0

d

a

a

Motion rangę

I

e,

V

0

ai

0

-120°h-120°

2

02

V

0

32

71

o

>ri

O

3

0

d3 v

0

0

0.1 m h-0.3 m

4

04

V

0

0

0

oo

o

00

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KADOMS

KRIM.W1MIR, AGH Kraków


12




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