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EPREUVE SPECIFIQUE - FILIERE TSI!
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PROJET de Sciences Industrielles pour lingnieur
Dure : 6 heures!
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course vrin 5 : course vrin 6 :
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Q20 - Quels sont les paramtres gomtriques permettant de piloter les mouvements du bras
robotis ?
Q21 - A partir du schma cinmatique, crire le graphe des liaisons. Vous noterez Lij la
liaison entre un solide i et un solide j. Vous dfinirez leurs caractristiques.
Q22 - Etablir les relations gomtriques liant le centre de gravit G4 de la tte de traite 4
dfini par les coordonnes (xG4 , y G4 , z G 4 ) dans le repre R0, les paramtres gomtriques
x, 21 et 32 et les longueurs L2, L3 et L4.
20 /28
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