c1u w1u w2u

0
β1p
β1
α1

β2
α2

c2=287
c1=510,6 w2=404
u
u=125,6 '
w1u 0 w'2u
β1

α2
'
'

β2

c1' =252
'

w'2=233
u c2=140 u

Scara 1mm=5m/s
c1u=225 w1u=146 0 w2u=129

w1a=56 w2=133
w2a=32
c2=59
156 u
c1=231 w1=