*** LK-1903X ***********

### 1903X ###

++++
19.8 2.5
X1
Y1 27.7 2.5
X2A
Y2A
Z2A

8.2
23.9
40

X2B
Y2B
Z2B

9
32.8
38.7

************************************************************************************************
++++
L1

18.5

************************************************************************************************
++++
L2

38.5

************************************************************************************************
++++
L3

12

355.5

************************************************************************************************
++++
L4 27

L5

33

38

_
A

Y1

X1

A = 37.541

atan

Y1
X1

1 .

180

= 53.557

************ *******************
L6

L1

L3

2. L1 . L3 . cos ( 90

1 ) .

.2

180

L6

L6 = 45.655 max(mm)
2

L6

L1

acos

. L6 .

L3

= 22.827

. 180

L1

4 = 31.605

************ *******************

sin ( t ) .

atan b.

x( a , b , c , d , t )

180

2. a. b. cos ( t ) .

acos

b. cos ( t ) .

2. d. a

180

2. a. b. cos ( t ) .

180

180

************************************************************************************************
bai 1 [ 110.1]

0 .. 360. bai

360

1 .

90

180

bai

180
1 0.
= 45.269

x A , L1 , L4 , L2 , 2

iX1 L1 . cos 2 .

L1 . cos 2.

DX1

L1 . sin 2 .

iY1

180

180

180

DY1

L1 . sin 2.

180

_
A_D1

L2

2. L2 . A. cos 1

_
L2 . cos 1

iX2

iY2

L2 . cos 1

DX2

L2 . sin 2
X1

DY2

L2 . sin 1

L7

L5

L4

2. L5 . L4 . cos ( 2

90 ) .

180

L7 = 53.992

acos

L4

L7
L5
2. L4 . L7

2 .

180

= 28.792

Y1


DY1 ( DY2 )
3 if atan
DX1 DX2
DX3

L7 . cos 3

DY3

L7 . sin 3

0 , atan

DY1
DX1

( DY2 )
DX2

atan

Z2A

DY1
DX1

( DY2 )
DX2

DX1

DY1

L8

DX3

Z2B

L9 = 174.857

L10

AA

,0
bai

if L10 0 ,

DY3
L8

Y2B

X2B

DX3

DY3

Y2A

X2A

L9

max( L8 )

L9

min( L10 ) = 140.652 []

max( AA ) = 72

[,]

0
0 -9.695

0
0 15.756

0
0 15.798

0
0 24.65

0
0 43.547

0
0 6.789

1 -9.419

1 15.923

1 15.89

1 25.327

1 43.993

1 8.028

2 -9.139

2 16.085

2 15.971

2 26.008

2 44.423

2 9.29

3 -8.857

3 16.242

3 16.04

3 26.689

3 44.836

3 10.572

4 -8.573

4 16.394

4 16.096

4 27.37

4 45.229

4 11.87

DX1 = 5 -8.285 DY1 = 5 16.541

6 -7.995
6 16.683

DX2 = 5 16.14
6 16.172

DY2 = 5 28.049
6 28.723

DX3 = 5 45.602
6 45.953

DY3 = 5 13.183
6 14.508

7 -7.703

7 16.82

7 16.192

7 29.392

7 46.28

7 15.84

8 -7.408

8 16.952

8 16.2

8 30.054

8 46.583

8 17.176

9 -7.111

9 17.079

9 16.197

9 30.708

9 46.862

9 18.515

10 -6.812

10 17.2

10 16.183

10 31.351

10 47.115

10 19.852

11 -6.511

11 17.316

11 16.159

11 31.983

11 47.342

11 21.185

12 -6.207

12 17.427

12 16.125

12 32.602

12 47.544

12 22.511

13 -5.902

13 17.533

13 16.082

13 33.207

13 47.721

13 23.827

14 -5.595

14 17.634

14 16.032

14 33.797

14 47.873

14 25.131

15 -5.287

15 17.728

15 15.973

15 34.372

15 48.001

15 26.419

16 -4.977

16 17.818

16 15.908

16 34.93

16 48.105

16 27.691

17 -4.665

17 17.902

17 15.838

17 35.471

17 48.186

17 28.944

L11

53

L12

120.434

L13

179.3

2.

K
HARI

L6 .
2

cos .

180

180.

180

2.

L6 .
2

cos .

180

L13

L12

180.

180

4.

L6
2

L11

30

0
341 27.973
342 28.048
20

343 28.118
344 28.184
345 28.246

HARI = 346 28.304

10

347 28.358

HARI

348 28.407
349 28.453

350 28.495
351 28.533
352 28.566

10

353 28.596
354 28.622
20

355 28.644
0

50

100

150

200

250

300

350

356 28.662
357 28.675
358 28.685

70

60

50

40

DY3

30

DY1

DY2

TENY
armY

20

10

10

20

30

20

10

10

20

DX3 , DX1 , DX2 , TENX , armX

30

40

50

L6 = 45.655

[]

min( L10 ) = 140.652 []

max( AA ) = 72

[,]

0 , 1 .. 36

ZERO

0 , 1 .. 36

36 , 37 .. 72

150
140
130
120
110
100
90
80
70
60

L10

50

LK1903
, 1
KAMA

40
30
20

HARI . 5

MESU1 . 1. 10
a
MESU2 . 1. 10
b

10
0
10
20
30
40

ZERO

50
60
70
80
90
100
110
120
130
140
150

0 10 20 30 40 50 60 70 80 90 100110120130140150160170180190200210220230240250260270280290300310320330

a
b
, LK1903
, . 10 , , . 10 , . 10
, 0
2
2

3D

LK-1903

[]
[]
[,]

19.8 1.06
X1
Y1 27.7 1.06
L2 34
L4 25
L5 34.5
2 34
45.655
140.022
71

19.8 2.5 X1
19.8 2.5 X1
19.8 2.5
X1
Y1 27.7 2.5 Y1 27.7 2.5 Y1 27.7 2.5
L2 38
L2 38.5
L2 39
L4 26
L4 27
L4 27
L5 30.5
L5 29
L5 29
2 35
2 38
2 38
41.336
129.702
73

41.336
129.83
71

41.336
129.779
72

19.8 2.5
X1
Y1 27.7 2.5
L2 39
L4 26.8
L5 29.8
2 35.5
41.336
129.577
73

LK-1903
150

100

50

LK1903
, 1
HARI . 5

50

100

150

50

100

150

200

LK1903
, 0

250

300

350