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Robotika-Mehanički Sastav Robota
Robotika-Mehanički Sastav Robota
ROBOTIKA
Mehaniki sustav robota
Openito
FSB
FSB
Segmenti
Segmenti
FSB
Uleitenja
Uleitenja
FSB
Osovine (vratila)
Osovine
FSB
zupasti
lanani
harmoniki
Prijenosnici
FSB
Harmonic Drive 1
FSB
Harmonic Drive 2
FSB
Harmonic Drive 3
FSB
mehaniki
Kompenzatori 1
10
FSB
Prihvatnice
Prihvatnice 1
11
FSB
Prihvatnice 2
12
FSB
Prihvatnice 3
13
FSB
Prihvatnice 4
14
FSB
Prihvatnice 5
15
FSB
Prihvatnice 6
16
FSB
Prihvatnice 7
17
FSB
Prihvatnice 8
18
FSB
Prihvatnice 9
19
FSB
Prihvatnice 10
20
FSB
Prihvatnice 11
21
FSB
q < qmax
q < qmax
T < Tmax
Ogranienja
22
FSB
q = qm / N
q = qm / N
q = qm / N
qm, Tm
Jm
MOTOR
REDUKTOR
q, T
J0
T = Tm N
LINK
Kinematika
23
FSB
q = qmax
qm, Tm
Jm
MOTOR
REDUKTOR
T
Tm N
q = =
J J0 + Jm N 2
q
=0 N =
N
q, T
J0
J0
Jm
LINK
Dinamika
24