mao robotica engenharia unip

8/19/2019 mao robotica engenharia UNIP

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UNIVERSIDADE PAULISTA – UNIP

INSTITUTO DE CIÊNCIAS EXATAS E TECNOLOGIA – ICET

DIEGO W. MORAES

GIOVANNI PEDERSINI PAGLIATO

GUILHERME WOLTER DE JESUS

HERYSON MOREIRA SOARES

JEFERSON TADEU DA SILVA

RODRIGO BIANCHINI

MÃO ROBÓTICA SEGUIDORA DE MOVIMENTOS

LIMEIRA 20!

9


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DIEGO W. MORAESGIOVANNI PEDERSINI PAGLIATOGUILHERME WOLTER DE JESUS

HERYSON MOREIRA SOARESJEFERSON TADEU DA SILVARODRIGO BIANCHINI


Projeto de e!"#$!% %re!e&t%do 'd$!($)$&% de Tr%*%)+o de C#r!o I, d%U&$-er!$d%de P%#)$!t% UNIP, (o/ore"#$!$to %r($%) %r% % e)%*or%01o d%/o&o2r%3$%.

Or$e&t%dor4 Pro3. Jo1o P%#)o de O)$-e$r%.

.

LIMEIRA20!


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DIEGO W. MORAESGIOVANNI PEDERSINI PAGLIATOGUILHERME WOLTER DE JESUS

HERYSON MOREIRA SOARESJEFERSON TADEU DA SILVARODRIGO BIANCHINI


Projeto de e!"#$!% %re!e&t%do 'd$!($)$&% de Tr%*%)+o de C#r!o I, d%U&$-er!$d%de P%#)$!t% UNIP, (o/ore"#$!$to %r($%) %r% % e)%*or%01o d%/o&o2r%3$%.

Aprovado em: ___/___/___

BANCA E5AMINADORA

_______________________________________

T+$%2o F. P. d% S$)-%

________________________________________

Br#&o Be))ott$ Loe!

________________________________________

A2&%)do de So#6% Go&0%)-e!


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7#ero agradecer , 8/ r$/e$ro )#2%r,

De#!, e)% 3or0% 8 (or%2e/

d#r%&te tod% e!t% )o&2% (%/$&+%d%.


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AGRADECIMENTOS

A2r%de0o % De#! "#e !e$ "#e !e/re e!te-e %o /e# )%do, /$&+% 3%/:)$%, or

/e %o$%r e /e $&(e&t$-%r !e/re e r$&($%)/e&te %o /e#! %$!, "#e /e!/o &o!

/o/e&to! /%$! d$3:(e$! &(% de$;%r%/ de (o&3$%r e/ /$/ e /e $&(e&t$-%r.

Ao Pro3e!!or Dr. Jo1o P%#)o de O)$-e$r% or !#% %/$6%de, e)o $&(e&t$-o e

%#;:)$o d#r%&te todo o tr%*%)+o e r$&($%)/e&te e)% (o&3$%&0% deo!$t%d% e/

/$/. Fo$ #/ 2r%&de r$-$) Pro3e!!or% A&% J?)$%, e)% ded$(%01o e/ !#%! or$e&t%0@e! %r% %

e)%*or%01o de!te tr%*%)+o.

A2r%de0o 3$&%)/e&te % todo! "#e &1o /e&($o&e$ %&ter$or/e&te, /%! "#e

%rt$($%r%/ e!t$-er%/ (o/$2o todo! e!te! /o/e&to!.


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RESUMO

E!te tr%*%)+o te/ o o*jet$-o de (o&!tr#$r #/% /1o ro*t$(%, (%%6 de

rerod#6$r o! /o-$/e&to! e3et#%do! or #/% )#-% te&do (o/o 3o(o r$&($%) %

ree&!1o de o*jeto!.

E!!e rojeto !er (o&!t$t#:do or !e&!ore! de 3)e;1o, !e&!ore! de 3or0%,

/otore!, e /$(ro(o&tro)%dore!. A /1o 3#&($o&%r *%!$(%/e&te re(e*e&do o!

/o-$/e&to do! !er-o /otore! "#e re!o&de/ % !$&%$! e&-$%do! e)% )#-%.O /%$or de!%3$o do rojeto, < 3%6er (o/ "#e o rott$o tr%2% % /%$or

3#&($o&%)$d%de d% /1o e re%)$6e (o/ re($!1o o /o-$/e&to de ree&!1o.

P"#"$%"&'()"$*+ /1o ro*t$(%, ree&!1o, 3#&($o&%)$d%de.


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ABSTRACT

T+$! or %$/! to (o&!tr#(t % ro*ot$( +%&d %*)e to rerod#(e /o-e/e&t!

er3or/ * % 2)o-e 3o(#!$&2 /%$&) o& 2r%! o*je(t!.

T+$! roje(t $)) (o&!$!t o3 *e&d$&2 !e&!or!, 3or(e !e&!or!, e&2$&e!, %&d

/$(ro(o&tro))er!. H%&d $)) or *%!$(%)) 2ett$&2 t+e /o-e/e&t o3 !er-o e&2$&e! t+%t

re!o&d to !$2&%)! !e&t * t+e 2)o-e.

T+e *$22e!t (+%))e&2e o3 t+e roje(t $! to /%e t+e rotote *r$&2 2re%ter

3#&(t$o&%)$t o3 t+e +%&d %&d er3or/ %((#r%te) 2r%!$&2 /o-e/e&t.

,*-/%&+ ro*ot$( +%&d, 2r%!, 3#&(t$o&%)$t.


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LISTA DE FIGURAS

F$2#r% P%rte! de M1o

F$2#r% = Ner-o! /ed$%&o e #)&%r

F$2#r% De;tero#! +%&d

F$2#r% K M1o *e*$o&$( -

F$2#r% Ho/e/ VS M"#$&% 9

F$2#r% For0% Pe!o

F$2#r% For0% Nor/%)

F$2#r% For0% de Atr$to

F$2#r% 9 For0% de Tr%01o KF$2#r% For0% E)!t$(%

F$2#r% Ar"#$tet#r% de H%rd%re do Ard#$&o

F$2#r% Ard#$&o = F$o

F$2#r% 5*ee S+$e)d

F$2#r% K Ser-o Motor 9

F$2#r% Se&!or F)e;

F$2#r% Re!$!tor !e&!:-e) % 3or0% F$2#r% De!e&+o D do rott$o

F$2#r% Br$&"#edo Or$2$&%)

F$2#r% 9 S$/#)%01o (o/ 3%)+%

F$2#r% S$/#)%01o F$&%) K


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SUM1RIO

1 INTRODUÇÃO 10

2 REVISÃO BIBLIOGRÁFICA 11

2.1 C/(*34/ H3&45%3(/ 11

2.2 M6/ H78"" 11

2.2.1 E!tr#t#r% !!e% 12

2.2.2 Mo-$/e&to! do! dedo! 13

2.2.3 Se&!$*$)$d%de 13

2.3 M6/ R/9543(" 14

2.3.1 A&troo/or3$!/o 14

2.3.2 F#&($o&%)$d%de 15

2.3.3 De!tre6% 15

2.4 G%"&:3; 15

2.5 E


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3.1.4 5*ee Rd$o! 28

3.1.5 5*ee E;)orer 29

3.1.6 Ser-o Motor 29

3.1.7 Se&!or F)e; 30

3.1.8 Re!$!tor !e&!:-e) % 3or0% 30

3.2 M*4//#/;3" U43#3?"" 31

4 RESULTADOS 36

5 CONCLUSÃO 37

6 BIBLIOGRAFIA 38

7 A!NDICE 41


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INTRODU@ÃO

Prte!e! orto


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2 REVISÃO BIBLIOGR1FICA

2. C/(*34/ H3&45%3(/

O $o&e$r$!/o &% te(&o)o2$% de rte!e! < %tr$*#:do %o! e2:($o!, o&de &o%&o de , e!(%-%0@e! %r"#eo)2$(%! re-e)%r%/ o "#e %(red$t%/ !er o /%$!

%&t$2o /e/*ro %rt$3$($%) do(#/e&t%do CLEMENTS, .

Herdoto, #/ +$!tor$%dor 2re2o re2$!tro# o 3e$to de He2$!tr%to!, #/ er!% "#e

3o$ (o&de&%do % /orte e)o! E!%rt%&o!. E)e e!(%o# %/#t%&do !e# rr$o < e

%! % ($(%tr$6%01o, (o&3e(($o&o# #/ < de /%de$r% e 3#2$# (%/$&+%&do %t< !er

re(%t#r%do e e;e(#t%do BOCOLINI, 99.

Projeto! de rte!e! (o/ o o*jet$-o de tr%6er %)2#/% 3#&($o&%)$d%de e &1o%e&%! %r% ree&(+er o e!%0o, !e d1o &o !2.2 M6/ H78""

A /1o < #/% d%! %rte! /%$! *r$)+%&te! d% e-o)#01o +#/%&%. E)% &o! d%

%der&($% %r% /%&$#)%r o*jeto!, !e&t$r te/er%t#r%! e te;t#r%!, &o! (o/#&$(%r e

re%)$6%r de!de t%re3%! !$/)e! % (o/)e;%!.

M(G%-$& K d$6 "#e % /1o o!!#$ o re2$/e de /?!(#)o! /%$! e!tr%&+o, %

/%$or$% do! !e#! /o-$/e&to! !1o (o&tro)%do! e)o! /?!(#)o! "#e !e e&(o&tr%/ &o

%&te*r%0o )$2%&do=!e %o! o!!o! do! dedo! d%&do /o-$/e&to e 3or0%. A /#!(#)%t#r%

"#e !e )o(%)$6% de&tro d% /1o er/$te d%r 3$r/e6% %r% o! /o-$/e&to!.

Pe!!o%! "#e o!!#e/ %)2#/% de3$($&($% o# te/ % %#!&($% de!te /e/*ro,

e&(o&tr%/ d$-er!%! d$3$(#)d%de!.


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Co/ % *$o/e(%trQ&$(% Qde=!e (r$%r #/ /e$o %r% %j#d%r %! e!!o%! d%&do=

%! /%$or %#to&o/$%, o$! (o/ % ro*t$(% %)$%d% % rte!e!, tor&o#=!e o!!:-e) re(r$%r

/e/*ro! *$Q&$(o!, (%%6e! de e;er(er /e!/% 3#&01o e /o-$/e&to! "#e o!

/e!/o! o!!#e/.

.. E!tr#t#r% !!e%

Se2#&do V%& de Gr%%33 % /1o < (o&!t$t#:d% or o!!o! "#e !1o

re#&$do! &o (%ro, /et%(%ro e 3%)%&2e!. O (%ro, o# #&+o, (o&!$!te e/ o$to o!!o!

re#&$do! e/ d#%! 3$)e$r%! de "#%tro o!!o! (%d%.

Met%(%ro, t%/*


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.. Mo-$/e&to! do! dedo!

O! /o-$/e&to! do! dedo! o(orre/ e/ tr! %rt$(#)%0@e!. A %rt$(#)%01o e&tre %

(%*e0% do /et%(%ro e % 3%)%&2e ro;$/%), < (+%/%d% de %rt$(#)%01o

/et%(%ro3%)&2$(%. Z e)e "#e #&e o! dedo! % %)/% d% /1o e d% o! /o-$/e&to!

de 3)e;1oXe;te&!1o e %d#01oX%*d#01o.

O o)e2%r < o dedo (o/ /%$or /o*$)$d%de e o!!#$ #/% 2r%&de %/)$t#de de

/o-$/e&to. S1o tr! %rt$(#)%0@e! "#e d1o e!!% /o*$)$d%de, e&tre e)%! %

$&ter3%)&2$(% < % /%$! d$!t%). Se2#$do de)% % /et%(%ro3%)&2$(% "#e < 3or/%d% e)%

(%*e0% do r$/e$ro /et%(%ro e e)% !#er3:($e d% 3%)%&2e ro;$/%).

A %rt$(#)%01o (o/ /%$or $/ort&($% < % tr%


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Fo&te4 Pre(et%, .

2. M6/ R/9543("

At#%)/e&te, d$-er!o! e;e/)o! de /1o! ro*t$(%! ode/ !er e&(o&tr%do!,

de!de $&0%! #t$)$6%d%! e/ !$/)e! t%re3%! $&d#!tr$%$! %t< /ode)o! /%$! !o3$!t$(%do!

"#e te&t%/ $/$t%r % /e(&$(% d% /1o +#/%&%.

O e!t#do d% *$o/e(%trQ&$(% &e!te tr%*%)+o !e %)$(% &o de!e&-o)-$/e&to de

#/% /1o %rt$3$($%) "#e (o$% o! /e!/o! %!e(to! d% /1o +#/%&% (o/o o e!o,

/ero de dedo! e 2r%#! de )$*erd%de, rerod#6$&do % /e!/% 3#&($o&%)$d%de.

De %(ordo (o/ T+$%2o M%r$&+o , % #t$)$d%de de #/% /1o ro*t$(%, !e

d% %tr%-

3#&($o&%)$d%de d% /e!/% e % !#% de!tre6%.

.. A&troo/or3$!/o

Co&!$!te &% (%%($d%de do ro*Q $/$t%r "#%)"#er t$o de !er -$-o e;$!te&te o#

&1o, !ej% #/ %&$/%), +#/%&o o# %t< /e!/o % %rte de #/ /e/*ro, (o/o #/%

/1o or e;e/)o.

Dee&de&do d% t%re3%, &1o < &e(e!!r$o #/ %)to 2r%# de %&troo/or3$!/o,

(o/o e/ e/re2o! $&d#!tr$%$!, or


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.. F#&($o&%)$d%de

A r$&($%) 3#&01o d% /1o !e (o&!$!te &% ree&!1o, "#e < o /o-$/e&to de

%2%rr%r e !e2#r%r o*jeto! (o/ 3or/%! e t%/%&+o! -%r$%do!.

Tr%6er %rte de!t% 3#&($o&%)$d%de %r% #/% /1o *$Q&$(% < 3#&d%/e&t%), o$!

d%r %o #!#r$o #/% 2r%&de $&dee&d&($%, tor&%&do=o (%%6 de re%)$6%r t%re3%!

"#e e)e &1o !er$% (%%6 de re%)$6%r % !e/ % rte!e.

.. De!tre6%

Z % (%%($d%de d% /1o re%)$6%r /o-$/e&to! (o/)e;o! (o/o o Gr%!. A

de!tre6% !e d de %(ordo (o/ % 3or/% e!tr#t#r%) do rott$o. 7#%&to /%$! 2r%#! de

)$*erd%de, /%$or !er o !e# ote&($%) de de!tre6%, or o#tro )%do, % d$3$(#)d%de &o(o&tro)e t%/*


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De %(ordo (o/ P%#) We!t)$&2 e Ro)%&d Jo+%&!!o& 9K, % e!t%*$)$d%de de

#/ %erto de re($!1o re"#er #/ (o&tro)e 3$&o d%! 3or0%! &% o&t% do dedo, %

d$3$(#)d%de de!!e (o&tro)e d=!e e)%! d$3ere&te! (%r%(ter:!t$(%! e ror$ed%de! do!

o*jeto!. A&te($%01o, d$re01o d% (%r2% e #/% re!o!t% do! !e&!ore! do dedo, (o/o

or e;e/)o, e)% "#%&t$d%de de 3or0% ode&do (%#!%r o de!)$6%/e&to d% (%r2% or

%01o d% 2r%-$d%de.

A)e/ d$!to, o! e!t#do! de %/*o! /o!tr%r%/ "#e % 3or0% &e(e!!r$% %r% %

ree&!1o < $&-er!%/e&te roor($o&%) %o (oe3$($e&te de %tr$to, o# !ej%, "#%&to /%$!

)$!% % !#er3:($e, /%$or % 3or0% &e(e!!r$% %r% % /1o !e2#r%r o o*jeto.

2.! E


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Fo&te4 S+%do Ro*ot Co/%&K, .

.. BeB$o&$( -

Prod#6$d% e)% e/re!% RSLSteeer, < 3e$t% de #/ (oro de 3$*r% de (%r*o&o

(o/ j#&t%! de %)#/:&$o o "#e % tor&% )e-e e re!$!te&te.

Z #/% rte!e /$oe)


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Fo&te4 G$6/odo, .

2. B3/8*("4%=3("

A B$o/e(%trQ&$(% re%)$6% % $&ter%01o de e)e/e&to! /e(&$(o!, e)etrQ&$(o! e

%rte! de or2%&$!/o! *$o)2$(o!, 3%6e&do (o/ "#e e)e! %t#e/ %tr%-

do /?!(#)o, e!"#e)eto o# !$!te/% &er-o!o OMICS INTERNACIONAL, .

Te/ (o/o #/ do! o*jet$-o! % 3#&01o de de-o)-er /o*$)$d%de e/ e!!o%! "#e

% erder%/ e)o !$/)e! e&-e)+e($/e&to, 3%)t% de e&er2$% &% /#!(#)%t#r%, "#e

!o3rer%/ %)2#/ %($de&te (%#!%&do %/#t%01o o# !o3re/ !e"#e)%! ro-e&$e&te! de

#/ %($de&te -%!(#)%r.

So)#01o e&(o&tr%d% %r% re!o)#01o de ro*)e/%! *$o)2$(o! %t#%&do &o

de!e&-o)-$/e&to de &o-o! /ode)o! de rte!e!, d$!o!$t$-o! de %#;$)$o &%

)o(o/o01o de %($e&te! e t%/*


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&o-%/e&te e&-$%do! %o (

&e(e!!r$o %tr$*#$&do %o !$!te/% /%$or /o*$)$d%de e %#to&o/$% ROS^RIO, .

A /e!/% $&ter%01o e&tre (

%r% "#e o /e!/o %t#e (o/ %#to&o/$%.

T%*e)% Ho/e/ VS M%"#$&%

CORPO HUMANO MECATRNICA

ROSARIO. ROS^RIO, J.M, Pr$&(:$o! de /e(%trQ&$(%, Pe%r!o& Ed#(%t$o&, ed, , . .

9


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C


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O&de F < % "#%&t$d%de de 3or0% %)$(%d% &o !$!te/%, !e e!!% 3or0% !o*r% &o

!$!te/% o(orre %(e)er%01o a, (%!o (o&tr%r$o % %(e)er%01o !er 6ero de$;%&do

!$!te/% &o e"#$):*r$o de !#% (o&d$01o $&$($%).

P%r% !$2)% m rere!e&t% /%!!%, !$2&$3$(%&do % re!$!t&($% "#e o (oro te/ % /#d%r

de e!t%do e/ /o-$/e&to o# %r%do. A!!$/ %r% (%d% o*jeto de /%!!%! d$!t$&t%!

#/% /e!/% 3or0% %)$(%d% $r% (%#!%r %(e)er%0@e! d$3ere&te!, ort%&to % /%!!% do

(oro "#%&to /%$or, /%$! 3or0% !er re($!o %r% %tr$*#$r % e)e #/% %(e)er%01o

BONJORNO et %)., 999.

.. For0% Pe!o

Rere!e&t%&do &%! e"#%0@e! e)% )etr% P , < % 3or0% "#e #/ (oro !o3re e)%%01o d% 2r%-$d%de g . P%r% todo o*jeto, )%&et% o# !%t

De!!% 3or/%, #/% /e!/% /%!!% ode ter #/% 3or0% e!o (o/ $&te&!$d%de!

d$3ere&te! !e&do d$ret%/e&te roor($o&%) % 2r%-$d%de )o(%).

F$2#r% For0% Pe!o


23/45

Fo&te4 We* E&!$&o, .

.. For0% Nor/%)

C+%/%/o! de 3or0% &or/%), % 3or0% de re%01o "#e #/% !#er3:($e e;er(e

!o*re #/ o*jeto "#e e!tej% e/ (o&t%to (o/ % /e!/%. Se&do de $2#%) $&te&!$d%de %

3or0% e!o, /%&t


24/45

Fo&te4 C#)t#r% E;%t%!9, .

.. For0% de Atr$to

Re!$!t&($% e&(o&tr%d% %r% (o)o(%r #/ o*jeto e/ /o-$/e&to "#%&do % e)e

%)$(%d% #/% 3or0% e o /e!/o &1o te/ !e# e!t%do %)ter%do, %r% "#e o /e!/o !ej%

/o-$/e&t%do % 3or0% %)$(%d% de-er% !er /%$or "#e % 3or0% de %tr$to e&(o&tr%d%e&tre o o*jeto e % !#er3:($e de %o$o do /e!/o COPELLI et %)., .

Ide&t$3$(%d% &%! e"#%0@e! (o/o Fat , o(orre &o (o&t%to e&tre !#er3:($e!,

dee&de&do d% %!ere6% d%! !#er3:($e! "#e e!t1o e/ (o&t%to

S#% e"#%01o < d%d% or4

Fat = µ.N

µ !$/*o)$6% o (oe3$($e&te de %tr$to, !e/ #&$d%de d$/e&!$o&%) te/ -%)ore! e&tre

e , t%/*


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Fo&te4 Po)/$(o!, .

..K For0% de Tr%01o

T$o de 3or0% e&(o&tr%d% "#%&do o o*jeto !o3re % %01o d% 3or0% or (ord% o#

/ode)o de 3$o. A 3or0% %)$(%d% % e;tre/$d%de d% (ord% < tr%&!3er$d% %t< o#tr%

e;tre/$d%de tr%&!/$t$&do 3or0% %o o*jeto o&de % /e!/% e&(o&tr%=!e (o&e(t%d%

BONJORNO, et %). 999.

A 3or0% d% tr%01o !e e"#$-%)e %o e!o, ort%&to4

T= m.g

F$2#r% 9 For0% de Tr%01o

POLaMICOS. D$!o&:-e) e/4+tt4XXo)e/$(%!(//.*)o2!ot.(o/.*rXXX(o&!e2#$r$%/o!=%&d%r=!e/=3or(%=do.+t/). A(e!!o e/4 /%$. .

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Fo&te4 F$!$(% F%!($&%&te

, .

.. For0% E)!t$(%

U/% /o)% %re!e&t% #/% de3or/%01o e)!t$(%, (%!o ret$r%d% % 3or0% %)$(%d%

!o*re % /e!/%, e)% retor&% %o !e# (o/r$/e&to e 3or/% or$2$&%). Noto#=!e "#e

e;$!te #/% roor($o&%)$d%de e&tre % 3or(% e;er($d% &% /o)% e !#% de3or/%01o.

A e"#%01o %r% deter/$&%r e!t% 3or0% 3o$ de!(o*ert% or Ro*ert Hooe, o&de

% )etr% F rere!e&t% % 3or0% de3or/%dor%, x % de3or/%01o &% /o)% e k < % (o&!t%&te

e)!t$(% d% /o)%.

O -%)or de!t% (o&!t%&te, dee&de do /%ter$%) e 3or/%to d% /o)%, e !#%

#&$d%de < d%d% e/ NX/. BONJORNO et %). 999.

F= k.x

F3;7%" 0 – F/%>" E#&43("

Fo&te4 Ade/%r F:!$(%,

FISICA FASCINANTE. D$!o&:-e) e/4+tt4XX3!$(%3%!($&%&te.*)o2!ot.(o/.*rXX=%&o.+t/). A(e!!oe/4 /%$. .

http://fsicafascinante.blogspot.com.br/p/1-ano.htmlhttp://fsicafascinante.blogspot.com.br/p/1-ano.html


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MATERIAIS E MTODOS

. M"4*%3"3& 743#3?"/&

.. Ard#$&o

Ard#$&o < #/% )%t%3or/% de +%rd%re ro2r%/-e), (o/ #/% )$&2#%2e/

CXCbb e "#e #!% #/% $&ter3%(e 2r3$(% (o&!tr#:d% e/ J%-%. S#% 2r%&de -%&t%2e/ <

% 3%($)$d%de de ro2r%/%01o, o$! "#%)"#er e!!o% ode r%$d%/e&te %re&der o

*!$(o e (r$%r d$-er!o! rojeto! e/ $&ter-%)o! (#rto! de te/o.

Po!!#$ #/ +%rd%re !$/)e!, e3$($e&te e (%%6 de !e (o/)e/e&t%r (o/

o#tro! (o/o&e&te! S+$e)d!K, 3%($)$t%&do o# $&(oror%&do % ro2r%/%01o %r%

o#tro! ($r(#$to! ROBOTI]ANDO, .

F$2#r% Ar"#$tet#r% de H%rd%re do Ard#$&o

Fo&te4 Ro*ot$6%&do, .

ADEMAR FcSICA. D$!o&:-e) e/4+tt4XX%de/%r3$!$(%.e*&ode.tX3or\C\A%=e)%!t$(%X. A(e!!oe/4 %*r. . H%rd%re !1o %! %rte! 3:!$(%! "#e (o/@e/ #/ %%re)+o, !ej% e)e #/ (o/#t%dor, #/ (e)#)%r,#/% te)e-$!1o o# "#%)"#er o#tro.KS+$e)d! < o &o/e d%do %! )%(%! de e;%&!1o de +%rd%re "#e e&(%$;%/ &% )%(% %rd#$&or$&($%). ROBOTI]ANDO. D$!o&:-e) e/4+tt4XX.ro*ot$6%&do.(o/.*rX(#r!o`%rd#$&o`+%rd%re`2.+. A(e!!o e/4 %*r. .

http://ademarfisica.webnode.pt/for%C3%A7a-elastica/http://www.robotizando.com.br/curso_arduino_hardware_pg1.phphttp://ademarfisica.webnode.pt/for%C3%A7a-elastica/http://www.robotizando.com.br/curso_arduino_hardware_pg1.php


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29/45

E;$!te/ tr! ()%!!e! de d$!o!$t$-o! "#e de3$&e/ % rede4

]C ]$2Bee Coorde&%tor Coorde&%dor ]$2Bee4 te/ % 3#&01o de $&$($%)$6%,

d$!tr$*#$r e&dere0o!, /%te&01o de rede, re(o&+e(er o#tro! d$!o!$t$-o! e 3%6er %

o&te e&tre %! o#tr%! rede!.

]R = ]$2Bee Ro#ter Rote%dor ]$2Bee4 te/ %! (%r%(ter:!t$(%! de (%d%

d$!o!$t$-o &% rede e ode !er #!%do %r% %/)$3$(%r o !$&%) d% rede.

]ED ]$2Bee E&d D$-$(e D$!o!$t$-o F$&%) ]$2Bee4 < o&de 3$(% $&!t%)%do o!

%t#%dore! o# !e&!ore!. E!!e d$!o!$t$-o < o "#e (o&!o/e /e&or e&er2$%, o$! e&tr%

e/ #/ e!t%do de e(o&o/$% "#%&do &1o + %t$-$d%de do! !e&!ore!.

F$2#r% 5*ee S+$e)d

Fo&te4 Coo$&2 H%(!, .

..K 5*ee Rd$o!Z o /od#)o "#e 3%6 % (o&e;1o. D$!o&$*$)$6% #/% (o/#&$(%01o r$d% de

o&to=%=o&to #t$)$6%&do #/% *%$;% )%t&($%.

.. 5*ee E;)orer

U/ %d%t%dor USB #t$)$6%do %r% (o&3$2#r%r o! %r/etro! de (o&e;1o do

5*ee R%d$#!

COO_ING HAC_S. D$!o&:-e) e/4 +tt4XX.(oo$&2=+%(!.(o/Xdo(#/e&t%t$o&Xt#tor$%)!X%rd#$&o=;*ee=!+$e)d. A(e!!o e/4 %*r. . Atr%!o de tr%&!3er&($% de %(ote de d%do!.

http://www.cooking-hacks.com/documentation/tutorials/arduino-xbee-shieldhttp://www.cooking-hacks.com/documentation/tutorials/arduino-xbee-shieldhttp://www.cooking-hacks.com/documentation/tutorials/arduino-xbee-shieldhttp://www.cooking-hacks.com/documentation/tutorials/arduino-xbee-shield


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.. Ser-o Motor

O! !er-o /otore! !1o /e(%&$!/o! /#$to re($!o e !1o /#$to #t$)$6%do! %r%

/o-$/e&t%r %rte! de 3or/% (o&tro)%d% ode&do /%&ter o o*jeto e/ o!$01o

/e!/o (o/ #/% 3or0% %2$&do (o&tr% o (oro, e < (o&!t$t#:do de ($&(o %rte!

r$&($%$!4

• C$r(#$to de (o&tro)e4 /o&$tor% o ote&($Q/etro e %($o&% o /otor %r% o*ter %

o!$01o de!ej%d%.

• Pote&($Q/etro4 /o&$tor% % o!$01o do e$;o de !%:d% do !er-o.

• Motor4 /o-$/e&t% %! e&2re&%2e&! e o e$;o do !er-o.

• E&2re&%2e&!4 red#6e/ % rot%01o do /otor, tr%&!3ere/ /%$! tor"#e %r% o

e$;o de !%:d% e /o-$/e&t%/ o ote&($Q/etro j#&to (o/ o e$;o.

• C%$;% do !er-o4 o&de 3$(% %)o(%do! %! %rte! do !er-o.

Ut$)$6% #/% %)$/e&t%01o de te&!1o de V e re(e*e #/ !$&%) de PWM "#e ode -%r$%r

de V o# V. E!!e !$&%) < /o&$tor%do e)o ($r(#$to de (o&tro)e % (%d% /!.

Se +o#-er %)2#/% %)ter%01o &o !$&%) &e!!e $&ter-%)o de te/o % o!$01o do

e$;o < %)ter%d% %t< "#e !e (o$&($d% (o/ % do !$&%) FEIS UNESP, .

F$2#r% K Ser-o Motor

Fo&te4 FEIS UNESP9, .

9 FEIS UNESP. D$!o&:-e) e/4+tt4XX.3e$!.#&e!.*rXHo/eXde%rt%/e&to!Xe&2e&+%r$%e)etr$(%X%#)%=K===!er-o=/otor====3$&%).d3 . A(e!!o e/4 %*r.

9

http://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdf


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.. Se&!or F)e;

U/ !e&!or de 3)e;1o, de %(ordo (o/ "#e < 3)e;$o&%do %! )%(%! de /et%) %

re!$!t&($% do !e&!or %#/e&t%.

Se/ &e&+#/% 3)e;1o te/ #/% re!$!t&($% %ro;$/%d% de 9. 7#%&do

3)e;$o&%do % 9 !#% re!$!t&($% -%r$% %r% %ro;$/%d%/e&te K e %

(+e2% % SPECTASYMBOL, .

F$2#r% Se&!or F)e;

D$!o&:-e) e/4 M#)t$)2$(%, .

.. Re!$!tor !e&!:-e) % 3or0%

E!!e !e&!or de 3or0% < #/% e):(#)% e!e!!% de o):/ero "#e /o!tr% #/%

d$/$$01o de re!$!t&($% (o/ o %#/e&to d% 3or0% %)$(%d% e/ !#% !#er3:($e %t$-%

POLULU, .

F$2#r% Re!$!tor !e&!:-e) % 3or0%

MULTILGICA4 D$!o&:-e) e/4 +tt!4XX/#)t$)o2$(%=!+o.(o/X!e&!or=3)e;. A(e!!o e/4 %*r. .

https://multilogica-shop.com/sensor-flexhttps://multilogica-shop.com/sensor-flex


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D$!o&:-e) e/4 Po)o)#, .

.2 M*4//#/;3" U43#3?""

O (o/e0o do tr%*%)+o !e de# $&$($o (o/ d$-er!%! e!"#$!%! e/ !$te! e )$-ro!

!o*re %!!#&to! (o/o % /1o +#/%&% e ro*t$(%, 2r%!$&2, Ard#$&o e rede! !e/ 3$o

e&tre %)2#&! o#tro! %!!#&to!.

A r$&($$o, &oto#=!e "#e er% o!!:-e) 3%6er #/ rott$o (o/ r%t$(%/e&te

"#%)"#er /%ter$%) "#e e!t$-e!!e % &o!!% d$!o!$01o, (o/o !#(%t% o# %t< /e!/o

re!to! de (o&d#$te!, /%! &1o !er$%/ -$-e$! %r% o o*jet$-o de!te tr%*%)+o.

Fo$ 3e$to #/ e!*o0o &o !o3t%re A#to CAD %r% %&%)$!%r "#%$! !er$%/ %!

/e)+ore! d$/e&!@e! do rott$o %ro;$/%&do o /;$/o o!!:-e) d%! /ed$d%! de

#/% /1o +#/%&%.

F$2#r% De!e&+o D do rott$o

Fo&te4 E)%*or%d% e)o %#tor

POLOLU. D$!o&:-e) e/4 +tt!4XX.o)o)#.(o/X3$)eXdo&)o%dX3!r`d%t%!+eet.d33$)e`$dfJ. A(e!!o e/4 %*r. .

https://www.pololu.com/file/download/fsr_datasheet.pdf?file_id=0J383https://www.pololu.com/file/download/fsr_datasheet.pdf?file_id=0J383


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E/ !e2#$d% 3o$ (o&!tr#:do %rte! de #/ /ode)o e/ %0o (o/ e!e!!#r% de

,// )e/*r%&do "#e o! dedo! &1o ode/ !er e!%do!, o$! d$3$(#)t% o tr%*%)+o de

3)e;1o e;er($do e)o /otor e e;te&!1o e3et#%do e)%! /o)%!.

Pe)%! %&)$!e! 3e$t%! (o/ e!te /%ter$%), (o&()#$=!e "#e de %(ordo %!

ror$ed%de! do /e!/o, !er$% /e)+or (o&3e(($o&%r o rott$o de te3)o& o$!

%re!e&t% %)t% re!$!t&($% "#:/$(%, % $/%(to!, % (orro!@e! e %o (%)or e o!!#$ *%$;%

(o&d#t$-$d%de e)


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Fe$t% % (o/r% do rod#to, de!e&-o)-e#=!e % ro2r%/%01o "#e d%r$% %

(%%($d%de do rott$o, de (o$%r o! /o-$/e&to! rod#6$do! e)% )#-% e !e2#r%r

o*jeto! (o&3or/e o o*jet$-o do tr%*%)+o. P%r% $!!o 3o$ #t$)$6%do o IDE.

O ro2r%/% Se&!or d% /1o 3%6 %! )e$t#r%! do! !e&!ore! 3)e; )$2%do! ' )#-%

"#e o #!#r$o $r /%!e%r, /ed$&do %!!$/ % -%r$%01o de re!$!t&($% "#e !er

ro(e!!%d% e e&-$%d% %tr%-

*$*)$ote(%! do Ard#$&o (o&t$d%! &o ro2r%/% M1o ro*t$(%.P%r% !o)#($o&%r %/*o! o! ro*)e/%!, 3o$ de!e&-o)-$do #/ &o-o ro2r%/%

"#e < *%!$(%/e&te % j#&01o de %/*o! o! ro2r%/%! %&ter$ore! M1o ro*t$(% e

Se&!or d% /1o.

F$2#r% 9 S$/#)%01o (o/ 3%)+%

I&te2r%ted De-e)o/e&t E&-$ro&/e&t4 So3t%re de ro2r%/%01o do Ard#$&o.


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Fo&te4 E)%*or%do e)o %#tor

Ao re%)$6%r % !e2#&d% !$/#)%01o, 3o$ e&(o&tr%do 3%)+%! (o/ o!

ote&($Q/etro! o$! % 3%$;% de re!$!t&($% de o+/ -%r$%&do de 3or/% )$&e%r

(%#!% /#$t% $&!t%*$)$d%de &o !$!te/%, !e&do %!!$/, %)tero#=!e e!!%! re!$!t&($%!

%r% o+/, ode&do %!!$/ e!t%*$)$6%r #/ o#(o o !$!te/%.

F$2#r% S$/#)%01o F$&%)

K


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Fo&te4 E)%*or%do e)o %#tor

Co/ % (orre01o 3e$t% &o! ote&($Q/etro!, o /otor 3#&($o&o# (o&3or/e o

e!er%do e /e)+or !e2#$# % -%r$%01o de re!$!t&($%, o$! 3o$ e)$/$&%d% %

$&!t%*$)$d%de (o/o d$to %&ter$or/e&te.

E!t% !$/#)%01o 3o$ $/ort%&te o$! /o!tro# "#e o ro2r%/% 3#&($o&o#

(orret%/e&te (o&tro)%&do o &2#)o do /otor, de %(ordo (o/ % -%r$%01o de

re!$!t&($% ro-$d% do! ote&($Q/etro!.


37/45


38/45

! CONCLUSÃO

Fo$ (o&()#:do "#e < o!!:-e) (o&!tr#$r #/ rott$o de /1o ro*t$(% % %rt$r de

"#%)"#er /%ter$%), (o/o !#(%t% or e;e/)o. No e&t%&to, o rott$o &1o ter #/

*o/ 2r%# %&troo/r3$(o.

Tr%6er % 3#&($o&%)$d%de "#e % /1o +#/%&% %re!e&t% %r% o rott$o, < o

/%$or de!%3$o, de-$do % (o/)e;$d%de 2er%d% or ro2r%/%r e (o&tro)%r

%de"#%d%/e&te o! /o-$/e&to! re"#er$do! %r% o 2r%!$&2.

Co/ % !$/#)%01o do! ro2r%/%! te&do #/ re!#)t%do !%t$!3%tr$o, (o&()#$=!e "#e

o rott$o %te&der todo! o! o*jet$-o! roo!to!.


39/45

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. ARDUINO. X9** S)3*# D$!o&$-e) e/4+tt4XX.%rd#$&o.((Xe&XM%$&XArd#$&o5*eeS+$e)d. A(e!!o4 de %*r$) de .

ANTiNIO ROGERIO MESSIAS. C/4%/#* %*8/4/ * "73&3>6/ * "/& $3"XBEE3;B**. D$!o&$-e) e/4 +tt4XX.ro2er(o/.(o/X]$2BeeX]$2Bee.+t/. A(e!!o e/4 de %*r$) de .

BOCOLINI, Fer&%&do. R*"93#34">6/ A8:74"/& A8:74">K*& P%54*&*&. . ed. S1oP%#)o4 Ro*e, 99, ..

BOCOLINI, )o(. ($t.

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BONJORNO, J.R et. %)., )o(. ($t.

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COPPELI, A.C. et. %)., $*$d., . .

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GREGORIO, M de[ S%&to!, V.J. T)* )78" )" "& " 3&:3%"43/ /% %/9/43()" *$*#/:8*4. . ed. S.)k4 Sr$&2er I&ter&%t$o&%) P#*)$!+$&2, K, ..

http://www.arduino.cc/en/Main/ArduinoBoardFiohttp://www.arduino.cc/en/Main/ArduinoXbeeShieldhttp://www.rogercom.com/ZigBee/ZigBee.htmhttp://fedscm.com/uploads/book_chapter/2013-04-23-224003_ANATOMIA_DA_MA%C3%8C%C6%92O.pdfhttp://fedscm.com/uploads/book_chapter/2013-04-23-224003_ANATOMIA_DA_MA%C3%8C%C6%92O.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.arduino.cc/en/Main/ArduinoBoardFiohttp://www.arduino.cc/en/Main/ArduinoXbeeShieldhttp://www.rogercom.com/ZigBee/ZigBee.htmhttp://fedscm.com/uploads/book_chapter/2013-04-23-224003_ANATOMIA_DA_MA%C3%8C%C6%92O.pdfhttp://fedscm.com/uploads/book_chapter/2013-04-23-224003_ANATOMIA_DA_MA%C3%8C%C6%92O.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdfhttp://www.feis.unesp.br/Home/departamentos/engenhariaeletrica/aula-4---servo-motor-13-03-2013-final.pdf


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*$o&$(%=*$o&$(=+%&d.+. A(e!!o e/4 de %*r$) de .

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MCGAVIN, Geor2e. T)* 3(%*39#* )78" )" " //4. D$!o&:-e) e/4+tt4XX.**(.(o/X&e!X!($e&(e=e&-$ro&/e&t=K. A(e!!o e/4 de/%r0o de .

MARINHO, T.S.E.S. P%/*4/ * (/4%/#* * 78" 86/ %/9543(" &*%$/ (/4%/#"":/% 4*K*&. D$!o&:-e) e/4+tt4XX.#(=

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e/4 K de %*r$) de .ROBOTI]ANDO. C7%&/ * A%73/4 O "#e < Ard#$&o. D$!o&:-e)e/4+tt4XX.ro*ot$6%&do.(o/.*rX(#r!o`%rd#$&o`o`"#e`e`%rd#$&o`2.+. A(e!!o e/4 de %*r$) de .

RODRIGUE]. B3/8*("4%=3(". D$!o&:-e)e/4+tt4XXo#r/e(%tro&$(%.*)o2!ot.(o/.*rXKXX*)o2=o!t.+t/). A(e!!o e/4 de /%$o de .

ROS^RIO, J.M. P%3(:3/& * M*("4%=3(". . ed. S.)k4 Pe%r!o& Ed#(%t$o&, ,

..

9

http://www.bbc.com/news/science-environment-26224631http://www.puc-rio.br/pibic/relatorio_resumo2009/relatorio/mec/thiago.pdfhttp://www.puc-rio.br/pibic/relatorio_resumo2009/relatorio/mec/thiago.pdfhttp://engenhariafeg.com.br/2010/seminarios/g09/G9.pdfhttps://www.pololu.com/file/download/fsr_datasheet.pdf?file_id=0J383http://www.bbc.com/news/science-environment-26224631http://www.puc-rio.br/pibic/relatorio_resumo2009/relatorio/mec/thiago.pdfhttp://www.puc-rio.br/pibic/relatorio_resumo2009/relatorio/mec/thiago.pdfhttp://engenhariafeg.com.br/2010/seminarios/g09/G9.pdfhttps://www.pololu.com/file/download/fsr_datasheet.pdf?file_id=0J383


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SANTELLO, M[ FLANDERS, M[ SOECHTING, J.F. P/&47%"# H" S-*%;3*& /%4/## 7&*. The Journal of Neuro"cience. S.)k, .4=, de6. 99.

SCHULTE, Er$[ SCHUEN_E, M$(+%e)[ SCHMACHER, Udo. A4#"& * A"4/83", .

ed. R$o de J%&e$ro4 G#%&%*%r% _oo2%&, .SPECTASYMBOL. F#*< S*&/% . D$!o&:-e) e/4+tt!4XX.!%r3#&.(o/Xd%t%!+eet!XSe&!or!XF)e;XF)e;Se&!or.d3 . A(e!!o e/4 de %*r$) de .

VAN DE GRAAFF, _. H78" A"4/8-. . ed. S.)k4 T+e M(Gr%=H$)) Co/%&$e!,, . .

VIRTUAL REABILITIES. S)"/ H". D$!o&:-e)e/4+tt4XX.-re%)$t$e!.(o/Xrod#(t!Xd%t%=2)o-e!X!+%do=de;tero#!=+%&d. A(e!!o e/4 de /%$o de .

WESTILING, P.[ JOHANSSON, R. F"(4/%& 3#7*(3; 4)* /%(* (/4%/# 7%3;:%*(3&3/ ;%3:. E;er$/e&t%) Br%$& Re!e%r(+. U/e, . =K, 9K.

5BEE DATASHEET. D$!o&:-e) e/4 +tt!4XX!=!%=e%!t=.%/%6o&%!.(o/X/#)t$)o2$(%=3$)e!Xd%t%!+eet!X5Bee=D%t%!+eet.d3 . A(e!!o e/4 de %*r$) de .

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https://www.sparkfun.com/datasheets/Sensors/Flex/FlexSensor.pdfhttps://s3-sa-east-1.amazonaws.com/multilogica-files/datasheets/XBee-Datasheet.pdfhttps://s3-sa-east-1.amazonaws.com/multilogica-files/datasheets/XBee-Datasheet.pdfhttps://www.sparkfun.com/datasheets/Sensors/Flex/FlexSensor.pdfhttps://s3-sa-east-1.amazonaws.com/multilogica-files/datasheets/XBee-Datasheet.pdfhttps://s3-sa-east-1.amazonaws.com/multilogica-files/datasheets/XBee-Datasheet.pdf


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APÊNDICE

A&d$(e A Cd$2o Ard#$&o Se&!or d% /1o L#-%

XXSe&!or D% M1o

$&t Se&!orPo)e2%r f AK[ XX de()%r%01o do !e&!or do dedoPo)e2%r $&t Se&!orI&d$(%dor f A[ XXde()%r%01o do !e&!or do dedoI&d$(%dor $&t Se&!orMed$o f A[ XXde()%r%01o do !e&!or dodedo Med$o $&t Se&!orA&e)%r f A[ XXde()%r%01o do !e&!or do dedo A&e)%r $&t Se&!orM$&$/o f A[ XX de()%r%01o do !e&!or dodedo M$&$/o

V%r$-e$! %r% % /1o tot%)/e&te %*ert%

$&t Po)e2%rA*ertof[ $&t I&d$(%dorA*erto f[$&t Med$oA*erto

f[ $&t A&e)%rA*erto f[$&t M$&$/oA*erto f[

$&t Po)e2%rFe(+%do[ $&t I&d$(%dorFe(+%do[ $&t Med$oFe(+%do[ $&t A&e)%rFe(+%do[$&t M$&$/oFe(+%do[

XX V%r$%-e$! "#e !er1o e&-$%d%!

$&t Po)e2%rf[ $&t I&d$(%dorf[ $&t Med$of[ $&t A&e)%r f[$&t M$&$/o f[

-o$d !et#l

Ser$%).*e2$&9[ XX At$-% % (o/#&$(%01o !er$%) (o/ o 5Bee % 9 *$tX!

$&ModeSe&!orPo)e2%r, INPUT[ XXDe()%r% % -%r$-e) (o/oe&tr%d% $&ModeSe&!orI&d$(%dor, INPUT[ XXDe()%r% % -%r$-e) (o/oe&tr%d% $&ModeSe&!orMed$o, INPUT[ XXDe()%r% % -%r$-e) (o/oe&tr%d% $&ModeSe&!orA&e)%r, INPUT[ XXDe()%r% % -%r$-e) (o/oe&tr%d% $&ModeSe&!orM$&$/o, INPUT[ XXDe()%r% % -%r$-e) (o/oe&tr%d% Po)e2%rFe(+%do f %&%)o2Re%dSe&!orPo)e2%r[ XX3%6 % )e$t#r% do !e&!or

I&d$(%dorFe(+%do f %&%)o2Re%dSe&!orI&d$(%dor[ XX3%6 % )e$t#r% do !e&!orMed$oFe(+%do f %&%)o2Re%dSe&!orMed$o[ XX3%6 % )e$t#r% do !e&!or A&e)%rFe(+%do f %&%)o2Re%dSe&!orA&e)%r[ XX3%6 % )e$t#r% do !e&!or

M$&$/oFe(+%do f %&%)o2Re%dSe&!orM$&$/o[ XX3%6 % )e$t#r% do !e&!orm

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-o$d )ool

Po)e2%r f %&%)o2Re%dSe&!orPo)e2%r[ XX3%6 % )e$t#r% do !e&!or

I&d$(%dor f %&%)o2Re%dSe&!orI&d$(%dor[ XX3%6 % )e$t#r% do !e&!orMed$o f %&%)o2Re%dSe&!orMed$o[ XX3%6 % )e$t#r% do !e&!or A&e)%r f %&%)o2Re%dSe&!orA&e)%r[ XX3%6 % )e$t#r% do !e&!orM$&$/o f %&%)o2Re%dSe&!orM$&$/o[ XX3%6 % )e$t#r% do !e&!or

XX (%)$*r%01o %*r$&do % /1o %)2#/%! -e6e!4

$3Po)e2%r Po)e2%rA*erto Po)e2%rA*erto f Po)e2%r[$3I&d$(%dor

I&d$(%dorA*erto I&d$(%dorA*ertof I&d$(%dor[ $3Med$o

Med$oA*erto Med$oA*ertof Med$o[ $3A&e)%r A&e)%rA*erto A&e)%rA*erto f A&e)%r[ $3M$&$/o M$&$/oA*erto

M$&$/oA*erto f M$&$/o[

XX (%)$*r%01o 3e(+%&do % /1o %)2#/%! -e6e!4

$3Po)e2%r Po)e2%rFe(+%do Po)e2%rFe(+%do

f Po)e2%r[ $3I&d$(%dor

I&d$(%dorFe(+%do I&d$(%dorFe(+%do f I&d$(%dor[ $3Med$o Med$oFe(+%do Med$oFe(+%dof Med$o[ $3A&e)%r A&e)%rFe(+%do A&e)%rFe(+%do f A&e)%r[ $3M$&$/o M$&$/oFe(+%do

M$&$/oFe(+%do f M$&$/o[

XX Ad%t%&do % )e$t#r% e&tre e do! !er-o/otore!XX O! -%)ore! /:&$/o e /;$/o #!%do! !1o o! d% (%)$*r%01o

Po)e2%r f /%Po)e2%r ,Po)e2%rFe(+%do ,Po)e2%rA*erto ,,[I&d$(%dor f /%I&d$(%dor ,I&d$(%dorFe(+%do ,I&d$(%dorA*erto ,,[Med$o f /%Med$o ,Med$oFe(+%do ,Med$oA*erto ,,[ A&e)%r f /%A&e)%r,A&e)%rFe(+%do,A&e)%rA*erto,,[M$&$/o f /%M$&$/o ,M$&$/oFe(+%do ,M$&$/oA*erto ,,[

XX O (%r(ter gh $&d$(% o $&$($o do! -%)ore!XX O! -%)ore! !1o e&-$%do! e)o $&o T; do Ard#$&o

Ser$%).r$tenn[

Ser$%).r$tePo)e2%r[Ser$%).r$teI&d$(%dor[Ser$%).r$teMed$o[Ser$%).r$teA&e)%r[

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Ser$%).r$teM$&$/o[

de)%[m

A&d$(e B Cd$2o Ard#$&o M1o ro*t$(%

XXM1o Ro*ot$(%

$&()#de Ser-o.+ XX B$*)$ote(% %r% o #!o de !er-o/otore!

XX (o)o(%=!e &o/e &o! !er-o/otore!

Ser-o Ser-oPo)e2%r, Ser-oI&d$(%dor, Ser-oMed$o, Ser-oA&e)%r, Ser-oM$&$/o[ *te!t%rtP%(%2e[ XX V%r$%-e) (o/ o (%r(ter nn "#e $&$($% o T5

XX V%r$-e) (o/ o! -%)ore! %r% o! !er-o/otore! e&tre e

$&t A&2#)oPo)e2%r f[ $&t A&2#)oI&d$(%dor f[ $&t A&2#)oMed$o f[ $&t A&2#)oA&e)%r f[ $&t A&2#)oM$&$/o f [

-o$d !et#lSer$%).*e2$&9[ XX At$-% % (o/#&$(%01o !er$%) (o/ o 5Bee % 9 *$tX!

XX De3$&e o! $&o de !%$d% do! /otore! &o Ard#$&oXX Pode/o! te&t%r #!%r #/ %tr%!o &o e&-$o do !$&%) %r% 2%r%&t$r "#e &1o er(%/o!d%do! &% (o&e;1o !e/ 3$o

Ser-oPo)e2%r.%tt%(+[ de)%[Ser-oI&d$(%dor.%tt%(+[ de)%[Ser-oMed$o.%tt%(+9[

de)%[Ser-oA&e)%r.%tt%(+[ de)%[Ser-oM$&$/o.%tt%(+[ de)%[Ser$%).r$&t)&nPro&to %r% re(e*ern[

m

-o$d )ool

$3Ser$%).%-%$)%*)e l XX A2#%rd%&do d%do! do 5*ee

XX O r$/e$ro d%do re(e*$do !er o (%r(ter de g%rt$d%h4 nn, o! de/%$! !er1o o!(o/%&do! %r% o! dedo!4

!t%rtP%(%2e f Ser$%).re%d[ A&2#)oPo)e2%rf Ser$%).re%d[

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A&2#)oI&d$(%dor f Ser$%).re%d[ A&2#)oMed$o f Ser$%).re%d[ A&2#)oA&e)%r f Ser$%).re%d[ A&2#)oM$&$/o f Ser$%).re%d[

$3!t%rtP%(%2e ff ppl XX -er$3$(% o -%)or e g%rt$d%h4 nn

XX E&-$% o! !$&%$! %r% o! !er-o/otore![

Ser-oPo)e2%r.r$teA&2#)oPo)e2%r[Ser-oI&d$(%dor.r$teA&2#)oI&d$(%dor[Ser-oMed$o.r$teA&2#)oMed$o[Ser-oA&e)%r.r$teA&2#)oA&e)%r[Ser-oM$&$/o.r$teA&2#)oM$&$/o[

mmde)%[ XX 7#%&to /%$or o de)%, o !$!te/% 3$(% )e&to, or

mao robotica engenharia unip

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