... robot TT Loại U(V) I(A) M(Nm) N(v/p) P(W) J(Kg.m2) R() L(H) m(Kg) 12 J9ZF 4, 8 4. 10 -2 210 0 15 21 0,32 .1 04 1, 38 10 0 0,6 J9ZF 12 4, 8 4. 10 -2 210 0 15 0,32 .1 04 1, 38 10 0 0,6 J12ZF 12 4, 8 1, 210 2 210 0... máy robot: nx = C1(C2 C4 + S2S4) – S1(S2C4 – C2S4) (2 .4) ny = S1(C2 C4 + S2S4) + C1(S2C4 – C2S4) (2.5) nz = (2.6) ox = C1(S2C4- C2 S4) + S1(C2C4 + S2S4) (2.7) oy = S1(S2C4 - C2 S4) - C1(C2C4 +... 2): 45 H 11 m12 34 l12 m 2 34 l 22 J1 24 2.m 2 34 l1.l Cosθ H12 m 2 34 l 22 J 24 m 2 34 l1.l Cosθ H13 J H 21 H12 H 22 m 2 34 l 22 J 24 H 23 J H 31 H 32 H 33 J T m 2 34 l1.l