7/30/2019 MULTI PURPOSE ROBOT
1/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 6
FOQU_FAU
Uch rmomu pijj oh f he`h f~miehr rmomu, Iu pijj oh fojh um ehuhau he`hq fle rhurfah iuq quhwq um
wrh~hlu nrmb nfjjil` empl, Fq mxr wrmkhau lfbh iq bxjuiwxrwmqh rmomuia qyquhb*qm iu cfq uch
afwfaiuy mn whrnmrbil` bxjuiwjh ufqd oxu ph frh ufdil` he`h f~mieil` fq uch bfil ufqd, _i`cu
lmp iu afl em uch nmjjmpil`;;
f, Iu afl bm~h nrhhjy pchrh uchrh iq lm he`h
o, Pchl uchrh iq fle he`h* iu bm~hq fpfy nrmb ucfu he`h,
a, Iu afl ileiafuh ml pciac qieh uch he`h iq wrhqhlu* ri`cu mr jhnu,
Exh um uibh amlqurfiluq mljy uchqh ucrhh ufqdq frh feehe,
7/30/2019 MULTI PURPOSE ROBOT
2/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h ?
ILU_MEXAUIML
_momuq fle rmomuia uhaclmjm`ihq cf~h fl iluhjjhauxfj fle hbmuimlfj fwwhfj ucfu urflqahleq fly
muchr uywh mn hl`ilhhrhe wrmexau* fle uciq fwwhfj iq nhju lm bmrh qm ucfl piuc acijerhl fle
ymxl` fexjuq, _momuq fle rmomuia uhaclmjm`ihq rhwrhqhlu f wrfauiafj fwwjiafuiml mn wcyqiaq*
ambwxuhr qaihlah* hl`ilhhril`* fle bfuchbfuiaq* fle wrm~ieh f ~hry wmphrnxj fle njhsiojh
fwwrmfac um ehbmlqurfuh f ~frihuy mn hl`ilhhril` amlahwuq, Il feeiuiml* rmomuiaq fwwhfjq um f
ormfe rfl`h mn iluhrhquq fle fjjmpq bxjuiwjh wmiluq mn faahqq um qaihlah* bfuchbfuiaq* fle
hl`ilhhril` nmr bfly uywhq mn jhfrlhrq, Fq f rhqxju* rmomuia uhaclmjm`y fle rmomuq frh ohil`
xqhe oy fl ilarhfqil` lxbohr mn hexafumrq fu uch amjjh`h jh~hj um rhilnmrah ambwxuhr qaihlah
fle hl`ilhhril` uchmry* fle um uhfac ofqia qmnupfrh fle bhacfliafj hl`ilhhril` fu uch
`rfbbfr qacmmj* bieejh qacmmj fle ci`c qacmmj jh~hjq,
Fl he`h f~miehr iq fl fxumlmbmxq omu ucfu afl nmjjmp he`hq, In uch rmomu nileq
he`hq ucfl iu pijj qhlqh uch he`hq piuc uch chjw mn iuq qhlqmrq fle qm rhuxrl ofad fle wrh~hlu
iuqhjn nrmb nfjjil` empl,
7/30/2019 MULTI PURPOSE ROBOT
3/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 1
ACFWUH_ 6
WMPH_ QXWWJY
6, WMPH_ QXWWJYUch wmphr qxwwjy airaxiu ambwriqhq f quhw empl urflqnmrbhr* f orie`h rhauinihr* nijuhr
afwfaiumrq* nmjjmphe oy f rh`xjfumr IA 0378, Uch airaxiu iq qcmpl ohjmp;
Chrh il uch fom~h airaxiu* nirqu uch quhw empl urflqnmrbhr #U6) pijj quhwq empl ?17 ^
FA um 8^ FA, F`fil* uch orie`h rhauinihr airaxiu pijj rhauiny 8^ FA ilum 8^ EA, Oxu iu iq lmu
nishe, Qm* um moufil f nishe ~mjuf`h mn 8^ IA 6 0378 rh`xjfumr iq xqhe, Afwfaiumrq A6* A? fle
A1 frh xqhe nmr nijuhril` wxrwmqh,
6,6 Ojmad eif`rfb mn Wmphr Qxwwjy
0378
8^ EA
MXU
NI@ 6; WMPH_ QXWWJY
7/30/2019 MULTI PURPOSE ROBOT
4/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 5
6,6,6 U_FLQNM_BH_
Urflqnmrbhrq aml~hru FA hjhauriaiuy nrmb mlh ~mjuf`h um
flmuchr piuc jiuujh jmqq mn wmphr, Urflqnmrbhrq pmrd mljy
piuc FA fle uciq iq mlh mn uch rhfqmlq pcy bfilq
hjhauriaiuy iq FA,
Quhw"xw urflqnmrbhrq ilarhfqh ~mjuf`h* quhw"empl urflqnmrbhrq rhexah ~mjuf`h, Bmqu
wmphr qxwwjihq xqh f quhw"empl urflqnmrbhr um rhexah uch efl`hrmxqjy ci`c bfilq ~mjuf`h
#?17^ il XD) um f qfnhr jmp ~mjuf`h,
Uch ilwxu amij iq afjjhe uch wribfry fle uch mxuwxu amij iq afjjhe uch qhamlefry, Uchrh iq
lm hjhauriafj amllhauiml ohuphhl uch upm amijq* ilquhfe uchy frh jildhe oy fl fjuhrlfuil`bf`lhuia nihje arhfuhe il uch qmnu"irml amrh mn uch urflqnmrbhr, Uch upm jilhq il uch bieejh mn
uch airaxiu qybomj rhwrhqhlu uch amrh,
Uch rfuim mn uch lxbohr mn uxrlq ml hfac amij* afjjhe uch uxrlq rfuim* ehuhrbilhq uch rfuim
mn uch ~mjuf`hq, F quhw"empl urflqnmrbhr cfq f jfr`h lxbohr mn uxrlq ml iuq wribfry #ilwxu) amij
pciac iq amllhauhe um uch ci`c ~mjuf`h bfilq qxwwjy* fle f qbfjj lxbohr mn uxrlq ml iuq
qhamlefry #mxuwxu) amij um `i~h f jmp mxuwxu ~mjuf`h,
6,6,? O_IE@H _HAUINIH_
F eimeh orie`h iq fl frrfl`hbhlu mn nmxr #mr bmrh) eimehq il f orie`h amlni`xrfuiml ucfuwrm~iehq uch qfbh wmjfriuy mn mxuwxu nmr hiuchr wmjfriuy mn ilwxu, Pchl xqhe il iuq bmqu
ambbml fwwjiafuiml* nmr aml~hrqiml mn fl fjuhrlfuil` axrrhlu #FA) ilwxu ilum eirhau axrrhlu f
#EA) mxuwxu* iu iq dlmpl fq f orie`h rhauinihr, F orie`h rhauinihr wrm~iehq nxjj"pf~h rhauiniafuiml
nrmb f upm"pirh FA ilwxu* rhqxjuil` il jmphr amqu fle phi`cu fq ambwfrhe um f rhauinihr piuc f
1"pirh ilwxu nrmb f urflqnmrbhr piuc f ahluhr"ufwwhe qhamlefry pileil`,
Nxjj"pf~h orie`h rhauinihr,
Axrrhlu eirhauimlq nmr uch nxjj"pf~h orie`h rhauinihr airaxiu frh fq qcmpl il Ni`xrh ohjmp
nmr wmqiui~h cfjn"ayajh fle Ni`xrh ohjmp nmr lh`fui~h cfjn"ayajhq mn uch FA qmxrah pf~hnmrb,Lmuh ucfu rh`frejhqq mn uch wmjfriuy mn uch ilwxu* uch axrrhlu njmpq il uch qfbh eirhauiml ucrmx`c
uch jmfe, Ucfu iq* uch lh`fui~h cfjn"ayajh mn qmxrah iq f wmqiui~h cfjn"ayajh fu uch jmfe, Uch
axrrhlu njmp iq ucrmx`c upm eimehq il qhrihq nmr omuc wmjfriuihq, Ucxq* upm eimeh ermwq mn uch
qmxrah ~mjuf`h frh jmqu #7,0?26,5 ^ nmr Qi) il uch eimehq, Uciq iq f eiqfe~fluf`h ambwfrhe piuc
f nxjj"pf~h ahluhr"ufw ehqi`l, Uciq eiqfe~fluf`h iq mljy f wrmojhb il ~hry jmp ~mjuf`h wmphr
qxwwjihq,
NI@; U_FLQNM_BH_
7/30/2019 MULTI PURPOSE ROBOT
5/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 8
6,6,1 0378 IA _H@XJFUM_
Iu iq f ucrhh uhrbilfj wmqiui~h rh`xjfumr, Iu aml~hruq f ~fryil` ilwxu ~mjuf`h ilum f
amlquflu rh`xjfuhe mxuwxu ~mjuf`h,
Wil eif`rfb mn 0378 IA rh`xjfumr iq qcmpl ohjmp;
6, Xlrh`xjfuhe ~mjuf`h Il
?, @rmxle
1, _h`xjfuhe ^mjuf`h Mxu
F ~mjuf`h rh`xjfumr #fjqm afjjhe f rh`xjfumr) piuc mljy ucrhh uhrbilfjq fwwhfrq um oh f
qibwjh eh~iah* oxu iu iq il nfau f ~hry ambwjhs iluh`rfuhe airaxiu, Iu aml~hruq
f ~fryil` ilwxu ~mjuf`h ilum f amlquflu rh`xjfuhe mxuwxu ~mjuf`h, ^mjuf`h rh`xjfumrqfrh f~fijfojh il f ~frihuy mn mxuwxuq jidh 8^* >^* 9^* 6?^ fle 68^,
Uch JB03SS qhrihq mn ~mjuf`h rh`xjfumrq frh ehqi`lhe nmr wmqiui~h ilwxu, Nmr
fwwjiafuimlq rhvxiril` lh`fui~h ilwxu* uch JB09SS qhrihq iq xqhe,
6,6,5 FE^FLUF@HQ MN IA 0378
Uch bfil fe~fluf`h iq uchy frh ~hry rmoxqu, Uchy afl piucqufle m~hr axrrhlu erfp exh
um qcmru airaxiuq fle fjqm exh um m~hrchfuil`, Il omuc uch afqhq uch ~mjuf`h rh`xjfumr pijj axu mnnibbheifuhjy* ohnmrh fly efbf`h maaxrq,
6,6,8 EIQFE^FLUF@H MN IA 0378
6, _h~hrqh wmjfriuy ehqurmyq uch ~mjuf`h rh`xjfumr ilquflujy,
?, Iu iq lmu wmqqiojh um moufil f ~mjuf`h jmphr ucfl uch qufuhe rfuil`,
7/30/2019 MULTI PURPOSE ROBOT
6/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h >
ACFWUH_ ?;
W39^86_E? EH^HJMWBHLU OMF_E
?,6 ILU_MEXAUIML
W39^86_E? Eh~hjmwbhlu Omfre iq f jmp amqu eh~hjmwbhlu omfre pciac cf~h fjj uch
ofqia ambwmlhluq lhhehe nmr `filil` f chfequfru ml ymxr nirqu 3786 biarmamlurmjjhr
wrmkhauq, Iu iq bfeh nrmb emxojh qiehe WUC WAO omfre um wrm~ieh hsurf qurhl`uc um uch
amllhaumr kmiluq nmr ilarhfqhe rhjifoijiuy, Omfre afl pmrd ml 0 um 68^ FA mr EA qxwwjy,
Iu cfq oxiju"il rh~hrqh wmjfriuy wrmuhauiml, 0378 ~mjuf`h rh`xjfumr cfq chfu qild nmr chfu
eiqqiwfuiml qm ucfu iu afl qxwwjy 6Fbw axrrhlu amluilxmxqjy piucmxu `huuil` m~hr chfuhe,
Iu cfq qpiuachq nmr rhqhu fle wmphr, Iu fjqm cfq _Q?1? iluhrnfah piuc EO9 nhbfjh
amllhaumr ofqhe ml BFS?1?, Fjj uch wmruq frh amllhauhe um quflefre 67 wil N_A
amllhaumrq, Mwhl wfeq nmr amllhauil` biarmamlurmjjhrq wilq um hsuhrlfj eh~iahq frh fjqm
wrm~iehe, Iu afl oh wrm`rfbbhe xqil` Njfqc Bf`ia wrm`rfbbil` xuijiuy mn LSWq mpl
wrm`rfbbil` xuijiuy ~if qhrifj wmru,
?,6,6 QWHAINIAFUIMLQ
Biarmamlurmjjhr; W39^86_E? piuc 66,789?BC{ aryqufjEmxojh qieh ci`c vxfjiuy WUC WAO omfre um wrm~ieh hsurf qurhl`uc um uch
amllhaumr kmiluq nmr ilarhfqhe rhjifoijiuy
Wmphr; 0 um 68^* FA mr EA* Chfu qild ml 0378 nmr ohuuhr axrrhlu rfuil`_h~hrqh wmjfriuy wrmuhauhe
Qpiuachq; _hqhu* Wmphr
_Q?1? qhrifj iluhrnfah67 wil N_A amllhaumrq fle qmjehril` wfeq ml fjj wmruq
Ambwfuiojh piuc @hlhrfj wxrwmqh wrmumuywil` omfre nmr eh~hjmwbhlu omfre nmr
qufadfojh ehqi`l
Fwwjiafuiml hsfbwjhq il Dhij wrm~iehe il uch emaxbhlufuiml AE
7/30/2019 MULTI PURPOSE ROBOT
7/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 0
NI@;W39^86_E? Eh~hjmwbhlu Omfre
7/30/2019 MULTI PURPOSE ROBOT
8/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 3
WM_U N_A amllhaumr wil amllhauimlq
Wmphr wmru iq xqhe um `i~h wmphr um uch faahqqmrihq omfreq ambwfuiojh um uch biarmamlurmjjhr
eh~hjmwbhlu omfre
Wmphr Wmru wil amllhauimlq
7/30/2019 MULTI PURPOSE ROBOT
9/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 9
ACFWUH_ 1;
XQO UM _Q"?1? AML^H_UH_
1,6 ILU_MEXAUIML
Uch XQO um _Q"?1? aml~hruhr wrm~iehq uch aml~hrqiml mn XQO efuf nrmb WA ilum _Q"?1?
nmrbfu fle ~iah ~hrqf, Uch XQO um _Q"?1? aml~hruhr wjfyq f ~iufj rmjh il rhwjfail` uch
jh`fay _Q"?1? ofqhe ambbxliafuiml piuc XQO ambbxliafuiml, Uch jfwumw mr WA urhfuq
uch XQO um _Q"?1? aml~hruhr fq ~iruxfj ambwmru #^AW) eh~iah fle fqqi`lq amb wmru
lxbohr, Uciq eh~iah nileq fwwjiafuimlq il XQO bmehbq* BAX ofqhe ehqi`lq* cfle chje
`fe`huq *hua,
1,? NHFUX_HQ
XQO ?,7 ambwfuiojhXQO wmphrhe
_s fle Us ileiafumr JHEq
Facih~fojh efuf rfuhq; ?577"668?77owq
Ambwfuiojh piuc hsiquil` @XI#_Q"?1?ofqhe)
WEF eri~hr qxwwmruJmp wmphr amlqxbwuiml
XQO afojh ilajxehe
NI@;; XQO UM _Q"?1? AML^H_UH_
7/30/2019 MULTI PURPOSE ROBOT
10/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 67
ACFWUH_ 5; W39^86_E?
5,6 ILU_MEXAUIMLUch W39^86_E? iq fl 37A86 biarmamlurmjjhr piuc >5 dO Njfqc fle 67?5 oyuhq mnefuf _FB,F dhy nhfuxrh mn uch W39^86_E? iq iuq S? bmeh mwuiml, Uch ehqi`l hl`ilhhr aflacmmqh um rxl uch fwwjiafuiml piuc uch aml~hluimlfj 37A86 ajmad rfuh #6? ajmadq whrbfacilh ayajh) mr qhjhau uch S? bmeh #> ajmadq whr bfacilh ayajh) um facih~h upiahuch ucrmx`cwxu fu uch qfbh ajmad nrhvxhlay, Flmuchr pfy um ohlhniu nrmb uciq nhfuxrhiq um dhhw uch qfbh whrnmrbflah oy rhexail` uch ajmad nrhvxhlay oy cfjn* ucxqerfbfuiafjjy rhexail` uch HBI,Uch Njfqc wrm`rfb bhbmry qxwwmruq omuc wfrfjjhj wrm`rfbbil` fle il qhrifjIl"Qyquhb Wrm`rfbbil` #IQW), Wfrfjjhj wrm`rfbbil` bmeh mnnhrq `fl`"wrm`rfbbil`fu ci`c qwhhe* rhexail` wrm`rfbbil` amquq fle uibh um bfrdhu, IQW fjjmpq f eh~iah
um oh rhwrm`rfbbhe il uch hle wrmexau xlehr qmnupfrh amlurmj, Uch afwfoijiuy umnihje-xwefuh uch fwwjiafuiml nirbpfrh bfdhq f pieh rfl`h mn fwwjiafuimlq wmqqiojh,Uch W39^86_E? iq fjqm Il"Fwwjiafuiml Wrm`rfbbfojh #IFW)* fjjmpil` uch Njfqcwrm`rfb bhbmry um oh rhamlni`xrhe h~hl pcijh uch fwwjiafuiml iq rxllil`,
5,6,6 NHFUX_HQ
37A86 Ahlurfj Wrmahqqil` Xliu8 ^ Mwhrfuil` ~mjuf`h nrmb 7 um 57 BC{>5 dO mn ml"aciw Njfqc wrm`rfb bhbmry piuc IQW #Il"Qyquhb Wrm`rfbbil`) fleIFW #Il"Fwwjiafuiml Wrm`rfbbil`)Qxwwmruq 6?"ajmad #ehnfxju) mr >"ajmad bmeh qhjhauiml ~if qmnupfrh mr IQWQWI #Qhrifj Whriwchrfj Iluhrnfah) fle hlcflahe XF_U
WAF #Wrm`rfbbfojh Amxluhr Frrfy) piuc WPB fle Afwuxrh-Ambwfrh nxlauimlqNmxr 3"oiu I-M wmruq piuc ucrhh ci`c"axrrhlu Wmru 6 wilq #6> bF hfac)Ucrhh 6>"oiu uibhrq-amxluhrqWrm`rfbbfojh Pfuacem` uibhr #PEU)Hi`cu iluhrrxwu qmxrahq piuc nmxr wrimriuy jh~hjqQhamle EWU_ rh`iquhrJmp HBI bmeh #FJH ilcioiu)
UUJ" fle ABMQ"ambwfuiojh jm`ia jh~hjq
Ormpl"mxu ehuhauiml
Jmp wmphr bmehq;"Wmphr"empl bmeh piuc hsuhrlfj iluhrrxwu pfdh"xwIejh bmeh
WEIW57* WJAA55 fle UVNW55 wfadf`hq
7/30/2019 MULTI PURPOSE ROBOT
11/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 66
5,6,? OJMAD EIF@_FB
Ni` ;, W39^86_E? ojmad eif`rfb
7/30/2019 MULTI PURPOSE ROBOT
12/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 6?
5,6,1; WILLIL@ ILNM_BFUIML
Ni` ; Wil amlni`xrfuiml
7/30/2019 MULTI PURPOSE ROBOT
13/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 61
5,? WIL EHQA_IWUIML
7/30/2019 MULTI PURPOSE ROBOT
14/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 65
7/30/2019 MULTI PURPOSE ROBOT
15/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 68
5,1 QWHAIFJ NXLAUIML _H@IQUH_Q
_hbfrd; Qwhaifj Nxlauiml _h`iquhrq #QN_q) faahqqhq frh rhquriauhe il uch nmjjmpil`pfyq;
Xqhr bxqu lmu fuuhbwu um faahqq fly QN_ jmafuimlq lmu ehnilhe,
Faahqqhq um fly ehnilhe QN_ jmafuimlq bxqu oh quriaujy nmr uch nxlauimlq nmr uchQN_q,
QN_ oiuq jfohjhe "* 7 mr 6 afl mljy oh priuuhl fle rhfe fq nmjjmpq;" Xljhqq muchrpiqh qwhainihe* bxqu oh priuuhl piuc 7* oxu afl rhuxrl fly ~fjxhpchl rhfe #h~hl in iu pfq priuuhl piuc 7), Iu iq f rhqhr~he oiu fle bfy oh xqhe il nxuxrh ehri~fui~hq,7 bxqu oh priuuhl piuc 7* fle pijj rhuxrl f 7 pchl rhfe,6 bxqu oh priuuhl piuc 6* fle pijj rhuxrl f 6 pchl rhfe,
5,5 NXLAUIMLFJ EHQA_IWUIML
Bhbmry mr`fli{fuimlUch eh~iah cfq qhwfrfuh feerhqq qwfahq nmr wrm`rfb fle efuf bhbmry,Njfqc wrm`rfb bhbmryUchrh frh upm iluhrlfj njfqc bhbmry ojmadq il uch eh~iah, Ojmad 7 cfq >5 doyuhq fleamlufilq uch xqhrq ameh, Ojmad 6 amlufilq uch Wcijiwq"wrm~iehe IQW-IFW rmxuilhq flebfy oh hlfojhe qxac ucfu iu m~hrjfyq uch nirqu 3 doyuhq mn uch xqhr ameh bhbmry,Uch >5 dO Ojmad 7 iq mr`fli{he fq 86? qhaumrq* hfac qhaumr amlqiquq mn 6?3 oyuhq,Faahqq um uch IFW rmxuilhq bfy oh hlfojhe oy ajhfril` uch OQHJ oiu il uch NANrh`iquhr, Cmph~hr* afxuiml bxqu oh ufdhl pchl eylfbiafjjy acfl`il` uch OQHJ oiu,
7/30/2019 MULTI PURPOSE ROBOT
16/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 6>
Qilah uciq pijj afxqh einnhrhlu wcyqiafj bhbmry um oh bfwwhe um uch jm`iafj wrm`rfbfeerhqq qwfah* uch xqhr bxqu f~mie ajhfril` uch OQHJ oiu pchl hshaxuil` xqhr amehpiucil uch feerhqq rfl`h 7777C um 6NNNC,
Efuf _FB bhbmryUch efuf _FB cfq 67?5 oyuhq mn iluhrlfj bhbmry, Uch eh~iah afl fjqm feerhqq xw um>5 dO nmr hsuhrlfj efuf bhbmry,Hswflehe efuf _FB feerhqqil`Uch W39^86_E? cfq 6 dO mn _FB,Uch eh~iah cfq nmxr qhauimlq mn iluhrlfj efuf bhbmry;6, Uch jmphr 6?3 oyuhq mn _FB #77C um 0NC) frh eirhaujy fle ileirhaujy feerhqqfojh,?, Uch ci`chr 6?3 oyuhq mn _FB #37C um NNC) frh ileirhaujy feerhqqfojh,1, Uch qwhaifj nxlauiml rh`iquhrq #37C um NNC) frh eirhaujy feerhqqfojh mljy,5, Uch hswflehe _FB mn 0>3 oyuhq #77C um ?NNC) iq ileirhaujy feerhqqfojh oy uchbm~h hsuhrlfj ilqurxauiml #BM^S) fle ajhfril` uch HSU_FB oiu,Qilah uch xwwhr 6?3 oyuhq maaxwy uch qfbh feerhqqhq fq uch QN_q* uch _FB bxquoh faahqqhe ileirhaujy, Uch _FB fle QN_q qwfah frh wcyqiafjjy qhwfrfuh h~hl ucmx`c uchy cf~h uchqfbh feerhqqhq,
5,8 Exfj efuf wmiluhrq
Uch eh~iah cfq upm 6>"oiu efuf wmiluhrq, Uch EWU_ Qhjhau #EWQ) oiu il FXS_6ehuhrbilhq pciac mn uch upm efuf wmiluhrq iq faahqqhe, Pchl EWQ 2 7* EWU_7 iqqhjhauhe4 pchl EWQ 2 6* EWU_6 iq qhjhauhe, Vxiadjy qpiuacil` ohuphhl uch upm efufwmiluhrq afl oh faambwjiqche oy f qil`jh ILA ilqurxauiml ml FXS_6,
5,> NJFQC BHBM_Y IL FWWJIAFUIML W_M@_FBBIL@
5,>,6 Njfqc mr`fli{fuimlUch W39^86_E? wrm`rfb bhbmry amlqiquq mn f >5 dO ojmad, Fl Il"QyquhbWrm`rfbbil` #IQW) afwfoijiuy* il f qhamle 3 dO ojmad* iq wrm~iehe um fjjmp uch xqhrameh um oh wrm`rfbbhe il"airaxiu ucrmx`c uch qhrifj wmru, Uchrh frh ucrhh bhucmeq mnhrfqil` mr wrm`rfbbil` mn uch Njfqc bhbmry ucfu bfy oh xqhe, Nirqu* uch Njfqc bfyoh wrm`rfbbhe mr hrfqhe il uch hle"xqhr fwwjiafuiml oy afjjil` jmp"jh~hj rmxuilhq
ucrmx`c f ambbml hlury wmilu #IFW), Qhamle* uch ml"aciw IQW ommu jmfehr bfy ohil~mdhe, Uciq IQW ommu jmfehr pijj* il uxrl* afjj jmp"jh~hj rmxuilhq ucrmx`c uch qfbhambbml hlury wmilu ucfu afl oh xqhe oy uch hle"xqhr fwwjiafuiml, Ucire* uch Njfqcbfy oh wrm`rfbbhe mr hrfqhe xqil` uch wfrfjjhj bhucme oy xqil` f ambbhraifjjyf~fijfojh HW_MB wrm`rfbbhr pciac qxwwmruq uciq eh~iah,5,>,? Ommu ojmadPchl uch biarmamlurmjjhr wrm`rfbq iuq mpl Njfqc bhbmry* fjj mn uch jmp jh~hj ehufijqfrh cflejhe oy ameh ucfu iq amlufilhe il f Ommu ojmad ucfu iq qhwfrfuh nrmb uch xqhrNjfqc bhbmry, F xqhr wrm`rfb afjjq uch ambbml hlury wmilu il uch Ommu ojmad piucfwwrmwrifuh wfrfbhuhrq um faambwjiqc uch ehqirhe mwhrfuiml, Ommu ojmad mwhrfuimlqilajxeh hrfqh xqhr ameh* wrm`rfb xqhr ameh* wrm`rfb qhaxriuy oiuq* hua,F Aciw"Hrfqh mwhrfuiml afl oh whrnmrbhe xqil` f ambbhraifjjy f~fijfojh wfrfjjhjwrm`rfbhr, Uciq mwhrfuiml pijj hrfqh uch amluhluq mn uciq Ommu Ojmad fle iu pijj oh
lhahqqfry nmr uch xqhr um rhwrm`rfb uciq Ommu Ojmad #Ojmad 6) piuc uchWcijiwq"wrm~iehe IQW-IFW ameh il mrehr um xqh uch IQW mr IFW afwfoijiuihq mn uciqeh~iah,5,>,1 Wmphr"Ml rhqhu ameh hshaxuimlNmjjmpil` rhqhu* uch W39^86_E? pijj hiuchr hluhr uch QmnuIAH bmeh #in wrh~imxqjyhlfojhe ~if IQW ambbfle) mr fuuhbwu um fxumofxe um uch IQW ommu jmfehr, In uciqfxumofxe iq lmu qxaahqqnxj piucil fomxu 577 bq* uch eh~iah pijj oh`il hshaxuiml mn uchxqhr ameh,5,>,5 Il"Qyquhb Wrm`rfbbil` #IQW)Il"Qyquhb Wrm`rfbbil` iq whrnmrbhe piucmxu rhbm~il` uch biarmamlurmjjhr nrmb uch
7/30/2019 MULTI PURPOSE ROBOT
17/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 60
qyquhb, Uch Il"Qyquhb Wrm`rfbbil` nfaijiuy amlqiquq mn f qhrihq mn iluhrlfj cfrepfrhrhqmxrahq amxwjhe piuc iluhrlfj nirbpfrh um nfaijiufuh rhbmuh wrm`rfbbil` mn uchW39^86_E? ucrmx`c uch qhrifj wmru, Uciq nirbpfrh iq wrm~iehe oy Wcijiwq flehboheehe piucil hfac W39^86_E? eh~iah, Uch Wcijiwq Il"Qyquhb Wrm`rfbbil`nfaijiuy cfq bfeh il"airaxiu wrm`rfbbil` il fl hboheehe fwwjiafuiml wmqqiojh piuc fbilibxb mn feeiuimlfj hswhlqh il ambwmlhluq fle airaxiu omfre frhf, Uch IQWnxlauiml xqhq ni~h wilq #^EE* ^QQ* UsE* _sE* fle _QU), Mljy f qbfjj amllhaumr lhhequm oh f~fijfojh um iluhrnfah ymxr fwwjiafuiml um fl hsuhrlfj airaxiu il mrehr um xqh uciqnhfuxrh,5,>,8 Xqil` uch Il"Qyquhb Wrm`rfbbil`Uch IQW nhfuxrh fjjmpq nmr f pieh rfl`h mn ofxe rfuhq um oh xqhe il ymxr fwwjiafuiml*ilehwhlehlu mn uch mqaijjfumr nrhvxhlay, Iu iq fjqm fefwufojh um f pieh rfl`h mnmqaijjfumr nrhvxhlaihq, Uciq iq faambwjiqche oy bhfqxril` uch oiu"uibh mn f qil`jh oiuil f rhahi~he acfrfauhr, Uciq ilnmrbfuiml iq uchl xqhe um wrm`rfb uch ofxe rfuh iluhrbq mn uibhr amxluq ofqhe ml uch mqaijjfumr nrhvxhlay, Uch IQW nhfuxrh rhvxirhq ucfufl iliuifj acfrfauhr #fl xwwhrafqh X) oh qhlu um uch W39^86_E? um hqufojiqc uch ofxerfuh, Uch IQW nirbpfrh wrm~iehq fxum"hacm mn rhahi~he acfrfauhrq, Mlah ofxe rfuhiliuifji{fuiml cfq ohhl whrnmrbhe* uch IQW nirbpfrh pijj mljy faahwu Iluhj Chs"uywhrhamreq, Iluhj Chs rhamreq amlqiqu mn FQAII acfrfauhrq xqhe um rhwrhqhlu chsfehaibfj~fjxhq fle frh qxbbfri{he ohjmp;
;LLFFFF__EE,,EEAA:arjnA_YQUFJ MQAIJJFUM_
F aryqufj mqaijjfumr iq fl hjhaurmlia mqaijjfumr airaxiu ucfu xqhq uch bhacfliafj rhqmlflah mn f
~iorfuil` aryqufj mnwih{mhjhauria bfuhrifj um arhfuh fl hjhauriafj qi`lfj piuc f ~hry wrhaiqhnrhvxhlay, Uciq nrhvxhlay iq ambbmljy xqhe um dhhw urfad mn uibh #fq il vxfru{ priqupfuachq)*
um wrm~ieh f qufojh ajmad qi`lfj nmr ei`iufj iluh`rfuhe airaxiuq* fle um qufoiji{h nrhvxhlaihq nmrrfeim urflqbiuuhrq fle rhahi~hrq, Uch bmqu ambbml uywh mn wih{mhjhauria rhqmlfumr xqhe iq uch
vxfru{ aryqufj* qm mqaijjfumr airaxiuq ehqi`lhe frmxle uchb ohafbh dlmpl fq /aryqufj
mqaijjfumrq,/
http://en.wikipedia.org/wiki/Utility_frequencyhttp://en.wikipedia.org/wiki/Traction_power_networkhttp://en.wikipedia.org/wiki/Electronic_oscillatorhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Piezoelectricity#Materialshttp://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Clock_signalhttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Integrated_circuitshttp://en.wikipedia.org/wiki/Radio_transmitterhttp://en.wikipedia.org/wiki/Radio_receiverhttp://en.wikipedia.org/wiki/Quartz_crystalhttp://en.wikipedia.org/wiki/Quartz_crystalhttp://en.wikipedia.org/wiki/Radio_receiverhttp://en.wikipedia.org/wiki/Radio_transmitterhttp://en.wikipedia.org/wiki/Integrated_circuitshttp://en.wikipedia.org/wiki/Digitalhttp://en.wikipedia.org/wiki/Clock_signalhttp://en.wikipedia.org/wiki/Quartz_clockhttp://en.wikipedia.org/wiki/Frequencyhttp://en.wikipedia.org/wiki/Piezoelectricity#Materialshttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Electronic_oscillatorhttp://en.wikipedia.org/wiki/Traction_power_networkhttp://en.wikipedia.org/wiki/Utility_frequency7/30/2019 MULTI PURPOSE ROBOT
26/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h ?>
Vxfru{ aryqufjq frh bflxnfauxrhe nmr nrhvxhlaihq nrmb f
nhp uhlq mndijmchru{ um uhlq mn bh`fchru{, Bmrh ucfl upm
oijjiml #?679) aryqufjq frh bflxnfauxrhe fllxfjjy, Bmqu
frh xqhe nmr amlqxbhr eh~iahq qxac fq priqupfuachq*ajmadq* rfeimq* ambwxuhrq* fle ahjjwcmlhq, Vxfru{
aryqufjq frh fjqm nmxle ilqieh uhqu fle bhfqxrhbhluhvxiwbhlu* qxac fq amxluhrq* qi`lfj `hlhrfumrq* fle
mqaijjmqamwhq,
8,>,6 MWH_FUIML
F aryqufj iq f qmjie il pciac uch amlquiuxhlu fumbq* bmjhaxjhq* mr imlq frh wfadhe il f rh`xjfrjy
mrehrhe* rhwhfuil` wfuuhrl hsuhleil` il fjj ucrhh qwfuifj eibhlqimlq,
Fjbmqu fly mokhau bfeh mn fl hjfquia bfuhrifj amxje oh xqhe jidh f aryqufj* piuc fwwrmwrifuh
urflqexahrq* qilah fjj mokhauq cf~h lfuxrfj rhqmlflu nrhvxhlaihq mn~iorfuiml, Nmr hsfbwjh* quhhjiq ~hry hjfquia fle cfq f ci`c qwhhe mn qmxle, Iu pfq mnuhl xqhe il bhacfliafj nijuhrq ohnmrh
vxfru{, Uch rhqmlflu nrhvxhlay ehwhleq ml qi{h* qcfwh* hjfquiaiuy* fle uch qwhhe mn qmxle il uch
bfuhrifj, Ci`c"nrhvxhlay aryqufjq frh uywiafjjy axu il uch qcfwh mn f qibwjh* rhaufl`xjfr wjfuh,Jmp"nrhvxhlay aryqufjq* qxac fq ucmqh xqhe il ei`iufj pfuachq* frh uywiafjjy axu il uch qcfwh mn
f uxlil` nmrd, Nmr fwwjiafuimlq lmu lhheil` ~hry wrhaiqh uibil`* f jmp"amqu ahrfbia rhqmlfumr iq
mnuhl xqhe il wjfah mn f vxfru{ aryqufj,Pchl f aryqufj mnvxfru{ iq wrmwhrjy axu fle bmxluhe* iu
afl oh bfeh um eiqumru il fl hjhauria nihje oy fwwjyil` f ~mjuf`h um fl hjhaurmeh lhfr mr ml uch
aryqufj, Uciq wrmwhruy iq dlmpl fq wih{mhjhauriaiuy, Pchl uch nihje iq rhbm~he* uch vxfru{ pijj`hlhrfuh fl hjhauria nihje fq iu rhuxrlq um iuq wrh~imxq qcfwh* fle uciq afl `hlhrfuh f ~mjuf`h, Uch
rhqxju iq ucfu f vxfru{ aryqufj ohcf~hq jidh f airaxiu ambwmqhe mn fl ilexaumr* afwfaiumr flerhqiqumr* piuc f wrhaiqh rhqmlflu nrhvxhlay,
Vxfru{ cfq uch nxruchr fe~fluf`h ucfu iuq hjfquia amlqufluq fle iuq qi{h acfl`h il qxac f pfy ucfu
uch nrhvxhlay ehwhlehlah ml uhbwhrfuxrh afl oh ~hry jmp, Uch qwhainia acfrfauhriquiaq pijj
ehwhle ml uch bmeh mn ~iorfuiml fle uch fl`jh fu pciac uch vxfru{ iq axu #rhjfui~h um iuq
aryqufjjm`rfwcia fshq),Uchrhnmrh* uch rhqmlflu nrhvxhlay mn uch wjfuh* pciac ehwhleq ml iuqqi{h* pijj lmu acfl`h bxac* hiuchr, Uciq bhflq ucfu f vxfru{ ajmad* nijuhr mr mqaijjfumr pijj
rhbfil faaxrfuh, Nmr ariuiafj fwwjiafuimlq uch vxfru{ mqaijjfumr iq bmxluhe il f uhbwhrfuxrh"
amlurmjjhe amlufilhr* afjjhe f aryqufj m~hl* fle afl fjqm oh bmxluhe ml qcmad foqmrohrq um
wrh~hlu whruxrofuiml oy hsuhrlfj bhacfliafj ~iorfuimlq,
8,0 J?91E BMUM_ E_I^H_ IA
Uch J?91 fle J?91E frh vxferxwjh ci`c"axrrhlu
cfjn"C eri~hrq, Uch J?91 iq ehqi`lhe um wrm~iehoieirhauimlfj eri~h axrrhluq mn xw um 6 F fu ~mjuf`hq
NI@;;A_YQUFJ MQAIJJFUM_
http://en.wikipedia.org/wiki/Kilohertzhttp://en.wikipedia.org/wiki/Wristwatchhttp://en.wikipedia.org/wiki/Clockhttp://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Computerhttp://en.wikipedia.org/wiki/Cellphonehttp://en.wikipedia.org/wiki/Signal_generatorhttp://en.wikipedia.org/wiki/Oscilloscopehttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Solidhttp://en.wikipedia.org/wiki/Atomhttp://en.wikipedia.org/wiki/Moleculehttp://en.wikipedia.org/wiki/Ionhttp://en.wikipedia.org/wiki/Elasticity_(physics)http://en.wikipedia.org/wiki/Transducerhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Vibrationhttp://en.wikipedia.org/wiki/Steelhttp://en.wikipedia.org/wiki/Mechanical_filterhttp://en.wikipedia.org/wiki/Elasticity_(physics)http://en.wikipedia.org/wiki/Speed_of_soundhttp://en.wikipedia.org/wiki/Tuning_forkhttp://en.wikipedia.org/wiki/Ceramic_resonatorhttp://en.wikipedia.org/wiki/Quartzhttp://en.wikipedia.org/wiki/Electric_fieldhttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Electrodehttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/Inductorhttp://en.wikipedia.org/wiki/Capacitorhttp://en.wikipedia.org/wiki/Resistorhttp://en.wikipedia.org/wiki/Crystal_ovenhttp://en.wikipedia.org/wiki/Crystal_ovenhttp://en.wikipedia.org/wiki/Resistorhttp://en.wikipedia.org/wiki/Capacitorhttp://en.wikipedia.org/wiki/Inductorhttp://en.wikipedia.org/wiki/Piezoelectricityhttp://en.wikipedia.org/wiki/Electrodehttp://en.wikipedia.org/wiki/Voltagehttp://en.wikipedia.org/wiki/Electric_fieldhttp://en.wikipedia.org/wiki/Quartzhttp://en.wikipedia.org/wiki/Ceramic_resonatorhttp://en.wikipedia.org/wiki/Tuning_forkhttp://en.wikipedia.org/wiki/Speed_of_soundhttp://en.wikipedia.org/wiki/Elasticity_(physics)http://en.wikipedia.org/wiki/Mechanical_filterhttp://en.wikipedia.org/wiki/Steelhttp://en.wikipedia.org/wiki/Vibrationhttp://en.wikipedia.org/wiki/Resonancehttp://en.wikipedia.org/wiki/Transducerhttp://en.wikipedia.org/wiki/Elasticity_(physics)http://en.wikipedia.org/wiki/Ionhttp://en.wikipedia.org/wiki/Moleculehttp://en.wikipedia.org/wiki/Atomhttp://en.wikipedia.org/wiki/Solidhttp://en.wikipedia.org/wiki/Crystalhttp://en.wikipedia.org/wiki/Oscilloscopehttp://en.wikipedia.org/wiki/Signal_generatorhttp://en.wikipedia.org/wiki/Cellphonehttp://en.wikipedia.org/wiki/Computerhttp://en.wikipedia.org/wiki/Radiohttp://en.wikipedia.org/wiki/Clockhttp://en.wikipedia.org/wiki/Wristwatchhttp://en.wikipedia.org/wiki/Kilohertz7/30/2019 MULTI PURPOSE ROBOT
27/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h ?0
nrmb 5,8 ^ um 1> ^, Uch J?91E iq ehqi`lhe um
wrm~ieh oieirhauimlfj eri~h axrrhluq mn xw um>77"bF fu ~mjuf`hq nrmb 5,8 ^ um 1> ^, Omuc
eh~iahq frh ehqi`lhe um eri~h ilexaui~h jmfeq qxac
fq rhjfyq* qmjhlmieq* ea fle oiwmjfr quhwwil`
bmumrq* fq phjj fq muchr ci`c"axrrhlu-ci`c"~mjuf`hjmfeq il wmqiui~h"qxwwjy fwwjiafuimlq,
Fjj ilwxuq frh UUJ ambwfuiojh, Hfac mxuwxu iq f ambwjhuh umuhb"wmjh eri~h airaxiu* piuc f
Efrjil`uml urflqiqumr qild fle f wqhxem"Efrjil`uml qmxrah, Eri~hrq frh hlfojhe il wfirq* piuceri~hrq 6 fle ? hlfojhe oy 6*?HL fle eri~hrq 1 fle 5 hlfojhe oy 1*5HL, Pchl fl hlfojh ilwxu
iq ci`c* uch fqqmaifuhe eri~hrq frh hlfojhe fle uchir mxuwxuq frh faui~h fle il wcfqh piuc uchir
ilwxuq, Pchl uch hlfojh ilwxu iq jmp* ucmqh eri~hrq frh eiqfojhe fle uchir mxuwxuq frh mnn fle iluch ci`c"ibwheflah qufuh, Piuc uch wrmwhr efuf ilwxuq* hfac wfir mn eri~hrq nmrbq f nxjj"C #mr
orie`h) rh~hrqiojh eri~h qxiufojh nmr qmjhlmie mr bmumr fwwjiafuimlq, Ml uch J?91* hsuhrlfj ci`c"
qwhhe mxuwxu ajfbw eimehq qcmxje oh xqhe nmr ilexaui~h urflqihlu qxwwrhqqiml, F ^AA6
uhrbilfj* qhwfrfuh nrmb ^AA?* iq wrm~iehe nmr uch jm`ia ilwxuq um bilibi{h eh~iah wmphr
8,3; JB1?5 IA
Uch mw"fbw IA pciac iq xqhe chrh iq JB1?5* pciac iq fl 65"
wil IA cf~il` upm iloxiju mw"fbwq, Il uch ambwfrfumr bmeh*
uch rhnhrhlah ~mjuf`h iq qhu fu uch il~hruhe ilwxu wil fle uchl
iu iq ambwfrhe piuc uch ilwxu fu lml il~hruhe wil,
NI@;;JB1?5 IA
7/30/2019 MULTI PURPOSE ROBOT
28/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h ?3
ACFWUH_ >;PM_DIL@
>,6 OJMAD EIF@_FB MN MX_ W_MKHAU
W39^86_E?
J
B
1
?
5
NI@;;OJMAD EIF@_FB MN W_MKHAU
7/30/2019 MULTI PURPOSE ROBOT
29/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h ?9
>,? PM_DIL@ MN MX_ _MOMU
Uch he`h f~miehr cfq fl urflqbiuuhr fle f rhahi~hr, Uch rhahi~hr rhahi~hq uch ilnmrbfuiml
fle `hlhrfuhq f ~mjuf`h wrmwmruimlfj um uch iluhlqiuy mn uch rhnjhauiml* in uciq ~mjuf`h iq fom~h
f ucrhqcmje iu bhflq QI@LFJ26 #jm`ia mlh) hjqh QI@LFJ2 7 #jm`ia {hrm),
Jhuq ufdh xw fl hsfbwjh pchrh ph cf~h um bm~h mxr omu ml f wjfil qxrnfah piucmxu fly
he`hq, Qxwwmqh uchrh frh ucrhh Ilnrf _he #I_) qhlqmr wfirq ucfu frh ml einnhrhlu cfj~hq mn f omu
piuc rhqwhau um `hmbhuriafj ahlurfj fsiq mn uch omu, Uch qhlqmrq frh wjfahe il qxac f pfy ucfu
in fjj uch ucrhh qhlqmrq ehuhau fly he`hq* uchy qhle ilnmrbfuiml um uch omu um bm~h il uch
ofadpfre eirhauiml, Il afqh uchrh frh lm he`hq* uch omu amluilxhq um bm~h qurfi`cu,
>,1 ACFQQIQ MN UCH _MOMU
>,1,6Ofqh mn rmomu;
Uch ofqh mr uch bfuhrifj mn uch wjfunmrb mn rmomu afl oh bfeh piuc fly hfqijy f~fijfojh bfuhrifj jidhqpiuac omfre* pmme* faryjia qchhu mr quhhj qchhu, Fq mxr rmomu pijj oh ~hry ji`cu* ph emlu
cf~h um ucild f jmu fomxu qurhl`uc fle muchr qxac nfaumrq, Chrh ph frh xqil` f ji`cu pmmehl
ofqh,
>,1,? Bmumrq fle Eri~il` Bhacfliqb;
Ph pijj lhhe f qhu mn upm bmumrq ucfu cf~h qfbh rwb #rh~mjxuiml whr bilxuh),
Ph pijj oh xqil` einnhrhluifj eri~h nmr bflhx~hril` mxr omu i,h, ph pijj cf~h ucrhh
pchhjq nmr mxr omu* uch nrmlu upm pijj oh wmphrhe fle uch rhfr pijj oh nrhh pchhj,
Pchl uch omu iq bm~il` qurfi`cu omuc uch bmumrq qcmxje cf~h hvxfj qwhhe,
Nmr uxrlil`* mlh mn uch bmumr iq qpiuache mnn, In ph qpiuac mnn uch jhnu bmumr* uch omu
pijj uxrl jhnu fle ~iah ~hrqf,
Chrh ph cf~h acmqhl f bmumr mn rwb frmxle 677 fle f umrvxh mn 6d`"ab,
8,1,1 Amxwjil` pchhjq . ajfbwil` bmumrq; Nmr ajfbwil` uch bmumrq chrh ph xqh wiwhajfbwq mr ri`cu fl`jhe ajfbwq, Uch ri`cu fl`jh ajfbwq hlqxrh bmrh ri`ielhqq, Um amxwjh
uch bmumr hlqxrh ucfu uch qcfnu mn bmumr fle cmjh mn pchhj cf~h hvxfj eifbhuhr,
>,1,5 Mw"Fbwjinihr #JB1?5)
In uch rfyq rhahi~he oy uch I_" JHE rhahi~hr frh fom~h f wfruiaxjfr ucrhqcmje uchl fl fbwjinihe
qi`lfj iq `hlhrfuhe oy uch fbwjinihr #JB1?5), Lmuh ucfu uch qhlqmrq afllmu eirhaujy qhle fqi`lfj um uch biarmamlurmjjhr fq uch qi`lfj ~mjuf`h `hlhrfuhe oy uchb iq umm jmp fle h~hl pchl
qhlqmrq ehuhau he`hq qi`lfj `hlhrfuhe oy uchb pijj iluhrwrhuhe jmp oy uch biarmamlurmjjhr,
7/30/2019 MULTI PURPOSE ROBOT
30/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 17
Njmpacfru mn uch wrm`rfb nmr uch he`h"f~mieil` rmomu
7/30/2019 MULTI PURPOSE ROBOT
31/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 16
NJMPACF_U AMLUILXHE
7/30/2019 MULTI PURPOSE ROBOT
32/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 1?
NI@;;AI_AXIU EIF@_FB MN MX_ W_MKHAU
NI@;;AI_AXIU EI@_FB MN QHLQM_Q
7/30/2019 MULTI PURPOSE ROBOT
33/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 11
JIQU MN AMBWMLHLUQ XQHE;;
6)W39~86_E? #3786 biarmamlurmjjhr nrmb LSW) 6lm
?)J?91E bmumr eri~hr 6lm
1)JB1?5 ambwfrfumr ?lmq
5)_hqiqumrq" 6d ?lmq
67d ?lmq
677 ?lmq
67d wmu ?lmq
3,?d 6lm
8)Afwfaiumr" 67xN 6lm
11wN ?lmq
>) 66,789?BC{ Aryqufj 6lm
0) I_ JHE ? lmq
3)Wcmum eimeh ?lmq
9) 8^ EA wmphr"qxwwjy
7/30/2019 MULTI PURPOSE ROBOT
34/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 15
NI@;;WIAUX_H MN MX_ _MOMU
7/30/2019 MULTI PURPOSE ROBOT
35/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 18
AMLAJXQIMLUciq wrmkhau cfq chjwhe xq f jmu um ilarhfqh mxr dlmpjhe`h il uch pmrje mn
biarmamlurmjjhr, Iu cfq lmu mljy chjwhe um jhfrl pcfu afl oh emlh piuc wrmwhrwrm`rfbbil` oxu fjqm cfq chjwhe xq um `fil mxr dlmpjhe`h il iluhrnfail`, Fq ph frh
kxqu oh`illhrq il uciq nihje* ph cf~h urihe mxr ohqu um em h~hryucil` wmqqiojh nrmb mxrqieh, Il uch nxuxrh ph cmwh um ufdh mxu wrmkhau nxruchr* um bfdh bmrh eh~hjmwbhluq il iuafl oh fl fqqhu um h~hrymlh il iuq mpl dile, Fq uch uibh mn ehbmlqurfuiml uch ufqdq
bhluimlhe il uch foqurfau frh whrnmrbhe fle `rfexfjjy ph pijj fee bmrh ufqdq um uch
qyquhb,
7/30/2019 MULTI PURPOSE ROBOT
36/37
BXJUIWX_WMQH _MOMU ?76?
EHWF_UBHLU MN HJHAU_MLIAQ FLE AMBBXLIAFUIML Wf`h 1>
OIOJIM@_FWCY
6, UCH 3786 BIA_MAMLU_MJJH_ FLE HBOHEEHE QYQUHBQ oy Bxcfbbfe Fji
Bf{iei* _mjil E, Badiljfy* ?le
heiuiml*WHF_QML
?, BIA_MW_MAHQQM_Q FLE BIA_MAMLU_MJJH_Q oy O, _FB * qh~hluc heiuiml
1, cuuw;--ppp,pidiwheif,amb-3786 biarmamlurmjjhr-W39^86_E?5, cuuw;--ppp,hl`ilhhrq `frf`h,amb-3786 qwhainiafuimlq8, ppp,efufqchhufraci~h,amb-JB1?5>, ppp,efufqchhufraci~h,amb-J?91E
7/30/2019 MULTI PURPOSE ROBOT
37/37
BXJUIWX_WMQH _MOMU ?76?
FWWHLEIS"F
#Efufqchhuq)