FORMULÁRIO – ROBÓTICA
C
12
= C
1
C
2
– S
1
S
2
= R
S
12
= S
1
C
2
+ C
1
S
2
= R
+ P
X
C
2
+ S
2
= 1 = Z
(prism.) = Z
(revol.)
= R
+
+1
Z
=
= R
(+
P
)
= R
+
P
+
v
!
" =
#
"#
=
+
$
%
+&
$
%
=
=
(
'
+
(
')
+
)
=
(
'
+
(
')
+
) + 2
$
%
+ &
$
%
J=
(
)
)
)
)
*
+,
-
+.
-
+,
-
+.
/
⋯+,
-
+.
1
+,
/
+.
-
⋱+,
/
+.
1
⋮ ⋱ ⋮
+,
4
+.
-
+,
4
+.
/
…+,
4
+.
1
6
7
7
7
7
8
9: =;<=(>)
?@A(>) BC(9)= DE(9)
∆G = ∑IJ
K
J
LM
I
#
N
