Sunu1.pptx - Erdem Yusuf G\u00f6kduman 110170030 Mehmet Salih \u00dcnal 110180725 Konnekt\u00f6rler End\u00fcstriyel Robotlar Tekstil Makineleri TS Serisi TX ve RX

Sunu1.pptx - Erdem Yusuf Gökduman 110170030 Mehmet Salih...

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Erdem Yusuf Gökduman 110170030 Mehmet Salih Ünal 110180725
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Konnektörler Endüstriyel Robotlar Tekstil Makineleri
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TS Serisi
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TX ve RX Serisi
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RX 160
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D/H a α b θ Variable at Ready to Move 0 0 0 0 - 1 0 90° 1375mm Θ 1 2 825mm -150mm Θ 2 90° 3 0 90° 0 Θ 3 90° 4 0 90° 625mm Θ 4 180° 5 0 90° 0 Θ 5 180° 6 0 110mm Θ 6 180° RX 160
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? 1,2 = [ c θ 2 −sθ 2 0 0 s θ 2 2 0 0 0 0 1 150 0 0 0 1 ] ? 2 , 3 = [ c θ 3 0 3 0 3 0 −c θ 3 0 0 1 0 0 0 0 0 1 ] ? 3,4 = [ c θ 4 0 s θ 4 0 4 0 −cθ 4 0 0 1 0 625 0 0 0 1 ] ? 4,5 = [ 5 0 s θ 5 0 5 0 −cθ 5 0 0 1 0 0 0 0 0 1 ] ? 5 , 6 = [ c θ 6 −sθ 6 0 0 6 6 0 0 0 0 1 110 0 0 0 1 ] ? 0,1 = [ 1 0 1 0 s θ 1 0 −c θ 1 0 0 1 0 1375 0 0 0 1 ]
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? 0,1 ? 2 ? = [ 1 0 0 0 0 0 1 0 0 1 0 1375 0 0 0 1 ] ? 3,4 ? 2 ? = [ 1 0 0 0 0 0 1 0 0 1 0 625 0 0 0 1 ] ? 1,2 ? 2 ? = [ 0 1 0 0 1 0 0 0 0 0 1 150 0 0 0 1 ] ? 2,3 ? 2 ? = [ 0 0 1 0 1 0 0 0 0 1 0 0 0 0 0 1 ] ? 4,5 ? 2 ? = [ 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 1 ] ? 5 , 6 ? 2 ? = [ 1
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