stlbn Gripper base ( = `AtA A AtA A `A-tAIA ( = `A-tAIA AtA A A-tAIA *x`{> `A-tAIA A-tAIA `AJsAA *x`{> `AJsAA A-tAIA AJsAA IpjF> `AJsAA AJsAA `AKrA A IpjF> `AKrA A AJsAA AKrA A PV ? `AKrA A AKrA A `AjpAA PV ? `AjpAA AKrA A AjpAA =X%a? `Ad`kA KA Ad`kA KA `AZhAyA />%a? `AZhAyA Ad`kA KA AZhAyA ?!r? `AZhAyA AZhAyA `A)eAA ?!r? `A)eAA AZhAyA A)eAA ω(?|? `A)eAA A)eAA `AaAA ω(?|? `AaAA A)eAA AaAA ? `AaAA AaAA `AHH^AA ? `AHH^AA AaAA AHH^AA ω(>?|? `AHH^AA AHH^AA `AZAA ω(>?|? `AZAA AHH^AA AZAA ?>!r? `AZAA AZAA `A
WAyA ?>!r? `A
WAyA AZAA A
WAyA />>%a? `A
WAyA A
WAyA `ATA KA />>%a? `ATA KA A
WAyA ATA KA = ?%J? `ATA KA ATA KA `AQA5YA = ?%J? `AQA5YA ATA KA AQA5YA =X `AMA A AMA A `ASLAA .pj?> `ASLAA AMA A ASLAA *x?`{> `ASLAA ASLAA `A{KAIA *x?`{> `A{KAIA ASLAA A{KAIA ( ? = `A{KAIA A{KAIA `A33KA A ( ? = `A33KA A A{KAIA A33KA A ( = `AtAA AtAA `A-tAA ( = `A-tAA AtAA A-tAA *xa{> `A-tAA A-tAA `AJsA ?A *xa{> `AJsA ?A A-tAA AJsA ?A pj > `AJsA ?A AJsA ?A `AKrAA pj > `AKrAA AJsA ?A AKrAA PV ? `AKrAA AKrAA `AjpAs9 A PV ? `AjpAs9 A AKrAA AjpAs9 A X?|? `AHH^AaEA AHH^AaEA `AZA A ω(>?|? `AZA A AHH^AaEA AZA A ?>!r? `AZA A AZA A `A
WAA ?>!r? `A
WAA AZA A A
WAA >$a? `A
WAA A
WAA `ATAAA >$a? `ATAAA A
WAA ATAAA = ?%J? `ATAAA ATAAA `AQAjA = ?%J? `AQAjA ATAAA AQAjA X `AMAA AMAA `ASLA ?A oj?> `ASLA ?A AMAA ASLA ?A *x?a{> `ASLA ?A ASLA ?A `A{KAA *x?a{> `A{KAA ASLA ?A A{KAA ( ? = `A{KAA A{KAA `A33KAA ( ? = `A33KAA A{KAA A33KAA = - QA A TBQA A TBlNA A SB = - lNA A SBQA A TBlNA A SB `{> *xlNA A SBlNA A SBgLA ASB `{> *xgLA ASBlNA A SBgLA ASB 8> pjgLA ASBgLA ASB IA ASB 8> pj IA ASBgLA ASB IA ASB ? PV IA ASB IA ASBGA A(SB ? PVGA A(SB IA ASBGA A(SB Vb-? dXAA ApOBAA ApOBBA AOB ,|? (>BA AOBAA ApOBBA AOB r? ?>BA AOBBA AOBBA AdNB r? ?>BA AdNBBA AOBBA AdNB E%a? >BA AdNBBA AdNB4DA AMB E%a? >4DA AMBBA AdNB4DA AMB ZJ? < ?4DA AMB4DA AMBEA AvJMB ZJ? < ?EA AvJMB4DA AMBEA AvJMB a-? X pj? IA Ak{LB IA Ak{LBgLA A{7LB 8> pj?gLA A{7LB IA Ak{LBgLA A{7LB ]{> *x?gLA A{7LBgLA A{7LBlNA A
LB ]{> *x?lNA A
LBgLA A{7LBlNA A
LB #= ?lNA A
LBlNA A
LBQA A LB #= ?QA A LBlNA A
LBQA A LB = - "B A TB"B A TBA$"B A SB = - A$"B A SB"B A TBA$"B A SB `{> *xA$"B A SBA$"B A SBO!B ASB `{> *xO!B ASBA$"B A SBO!B ASB ~> pjO!B ASBO!B ASBn B ASB ~> pjn B ASBO!B ASBn B ASB ? PVn B ASBn B ASBW B A(SB ? PVW B A(SBn B ASBW B A(SB Vb-? dXL B ApOBL B ApOB# B AOB |? ҏ(># B AOBL B ApOB# B AOB 4!r? I>># B AOB# B AOB # B AdNB 4!r? I>> # B AdNB# B AOB # B AdNB %a? > # B AdNB # B AdNBs B AMB %a? >s B AMB # B AdNBs B AMB -J? < ?s B AMBs B AMBl B AvJMB -J? < ?l B AvJMBs B AMBl B AvJMB a-? X pj?n B Ak{LBn B Ak{LBO!B A{7LB ~> pj?O!B A{7LBn B Ak{LBO!B A{7LB ]{> *x?O!B A{7LBO!B A{7LBA$"B A
LB ]{> *x?A$"B A
LBO!B A{7LBA$"B A
LB #= ?A$"B A
LBA$"B A
LB"B A LB #= ?"B A LBA$"B A
LB"B A LB * ? = A 8A_A `A 8A_A A8AjYA * ? = A8AjYA `A 8A_A `A8AjYA *x?a{> A8AjYA `A8AjYA A*:ASA *x?a{> A*:ASA `A8AjYA `A*:ASA pj?>> A*:ASA `A*:ASA A0> A0A < ?bJ? A@ JAl>A `ADA.BA `A@ JAl>A 5>=%a? A@ JAl>A `A@ JAl>A AOA~^;A 5>=%a? AOA~^;A `A@ JAl>A `AOA~^;A @> r? AOA~^;A `AOA~^;A A:.VAT99A @> r? A:.VAT99A `AOA~^;A `A:.VAT99A (>F|? A:.VAT99A `A:.VAT99A Ac\A"8A (>F|? Ac\A"8A `A:.VAT99A `Ac\A"8A ? Ac\A"8A `Ac\A"8A AMcA"8A ? AMcA"8A `Ac\A"8A `AMcA"8A (F|? AMcA"8A `AMcA"8A AiAT99A (F|? AiAT99A `AMcA"8A `AiAT99A @ r? AiAT99A `AiAT99A A]pA~^;A @ r? A]pA~^;A `AiAT99A `A]pA~^;A E9%a? A]pA~^;A `A]pA~^;A AuAl>A E9%a? AuAl>A `A]pA~^;A `AuAl>A < bJ? AuAl>A `AuAl>A A]{A.BA < bJ? A]{A.BA `AuAl>A `A]{A.BA X A薁ANLA `A薁ANLA AASA pj^> AASA `A薁ANLA `AASA *x`{> AASA `AASA A+AjYA *x`{> A+AjYA `AASA `A+AjYA * = A+AjYA `A+AjYA A A_A * = A A_A `A+AjYA `A A_A 7 = * A A B A A BA AsB 7 = * A AsB A A BA AsB `{> *xA AsBA AsBGtA AtOB `{> *xGtA AtOBA AsBGtA AtOB > pjGtA AtOBGtA AtOB4VA AB > pj4VA ABGtA AtOB4VA AB ? PV4VA AB4VA ABfA AÒB ? PVfA AÒB4VA ABfA AÒB ~b-? @X A AIB 1|? (> A AIBmA AېB> A AIB ? > A AIB> A AIB> A AB ? > A AB> A AIB> A AB 1|? (>> A AB> A ABmA A $B 1|? (>mA A $B> A ABmA A $B !r? )?>mA A $BmA A $B-A AB !r? )?>-A ABmA A $B-A AB 4%a? W>-A AB-A ABGA AB 4%a? W>GA AB-A ABGA AB J? = ?GA ABGA AB+A A(B J? = ?+A A(BGA AB+A A(B ob-? MX pj?4VA AB4VA ABGtA AB .> pj?GtA AB4VA ABGtA AB `{> *x?GtA ABGtA ABA A8B `{> *x?A A8BGtA ABA A8B = ) ?A A8BA A8B A A B = ) ? A A BA A8B A A B = ( @ A WB @ A WB_Ȗ@ AVB = ( _Ȗ@ AVB @ A WB_Ȗ@ AVB O`{> *x_Ȗ@ AVB_Ȗ@ AVBэ@ AVB O`{> *xэ@ AVB_Ȗ@ AVBэ@ AVB Ӫ> *pjэ@ AVBэ@ AVBX@ A(VB Ӫ> *pjX@ A(VBэ@ AVBX@ A(VB ? PVX@ A(VBX@ A(VBL5{@ A$UB ? PVL5{@ A$UBX@ A(VBL5{@ A$UB Gb-? sXaP@ AlOBaP@ AlOB[mS@ AHNB ,|? (>[mS@ AHNBaP@ AlOB[mS@ AHNB !r? ?>[mS@ AHNB[mS@ AHNBnY@ A)0MB !r? ?>nY@ A)0MB[mS@ AHNBnY@ A)0MB @%a? )>nY@ A)0MBnY@ A)0MB *pj?X@ AIBX@ AIBэ@ AaIB Ӫ> *pj?э@ AaIBX@ AIBэ@ AaIB O`{> *x?э@ AaIBэ@ AaIB_Ȗ@ AqIB O`{> *x?_Ȗ@ AqIBэ@ AaIB_Ȗ@ AqIB = ( ?_Ȗ@ AqIB_Ȗ@ AqIB @ A IB = ( ? @ A IB_Ȗ@ AqIB @ A IB Z = ) PA A B PA A B0dKA AsB Z = ) 0dKA AsB PA A B0dKA AsB `{> *x0dKA AsB0dKA AsBFA AtOB `{> *xFA AtOB0dKA AsBFA AtOB > pjFA AtOBFA AtOBiBA AB > pjiBA ABFA AtOBiBA AB ? PViBA ABiBA ABR>A AÒB ? PVR>A AÒBiBA ABR>A AÒB cb-? YXA AÒBR>A AÒBUf;A A^B cb-? YXA AÒBUf;A A^B $J? = Uf;A A^BUf;A A^B18A AB $J? = 18A ABUf;A A^B18A AB %a? 18A AB18A AB[6A AgB %a? [6A AgB18A AB[6A AgB !r? >[6A AgB[6A AgBW4A AېB !r? >W4A AېB[6A AgBW4A AېB (|? (W4A AېBW4A AېB{4A AIB (|? ({4A AIBW4A AېB{4A AIB ? {4A AIB{4A AIB{4A AB ? {4A AB{4A AIB{4A AB (|? (>{4A AB{4A ABW4A A $B (|? (>W4A A $B{4A ABW4A A $B !r? >>W4A A $BW4A A $B[6A AB !r? >>[6A ABW4A A $B[6A AB %a? >[6A AB[6A AB18A AB %a? >18A AB[6A AB18A AB .J? < ?18A AB18A ABUf;A A(B .J? < ?Uf;A A(B18A ABUf;A A(B Tb-? fXA AA AA AA A
A AA A pj?iBA ABiBA ABFA AB .> pj?FA ABiBA ABFA AB O`{> *x?FA ABFA AB0dKA A8B O`{> *x?0dKA A8BFA AB0dKA A8B = ( ?0dKA A8B0dKA A8B PA A B = ( ? PA A B0dKA A8B PA A B
9
B A$B]B AA&B A A (B ]B AA&BB A7'B A A (B A A (BB A7'B B A'B A A (B B A'BB A (B A ADBa_A AB A A (B A A (Ba_A ABOP B AOP#B A A (BOP B AOP#B
9
B A$B A AAþA AA A A (B A A (BþA AAFA An2 B FA An2 B;A Ay B A A (B A A (B;A Ay BEA ApB A A (BEA ApBA ADB H@ A)0MB@ A+LB @ A (B @ A (B.@ AIB.@ AaIB @ A+LBW3@ APBKB @ A (B @ A (BW3@ APBKB[e@ AyJB @ A (B[e@ AyJB.@ AIB rYA AtOBGA AB-A AB ͪ@ AB@ AB @ A (B rYA AtOBS]A ABGA AB GA ABS]A AB2aA AÒB GA AB2aA AÒBdA A^B CiA ABA A8BGtA AB S]A ABrYA AB A A B hA ABLA A(B\B A*P{B \B A*P{BLA A(BWA AA AÒBiBA ABA AvB qAA AWBA AvBmA AېB GtA AB4VA ABCiA AB CiA AB4VA ABfA AA AÒB iBA ABFA AtOBA AvB A AvBFA AtOB0dKA AsB A AvB0dKA AsB PA A B qAA AWBmA AېB
$A A
B s@BA A BGA AB+A A^B UA AېBA AIB@ B A B @ B A BA AIBA AB @ B A BA AB' B A}B ' B A}BA ABUA A $B ' B A}BUA A $B\B A*P{B \B A*P{BUA A $B"A AB \B A*P{B"A ABhA AB WA A A ,B /> A ,Bэ@ AaIBX@ AIB /> A ,BX@ AIBIA-> A:.B .@ AVB18A AB7@ AVB 7@ AVB18A AB[6A AB 7@ AVB[6A AB @ A WB @ A WB[6A ABW4A A $B @ A WBW4A A $B#
A ApB #
A ApBW4A A $B{4A AB #
A ApB{4A AB{4A AIB GA ABs@BA A B-A AgB -A AgBs@BA A B7A AB -A AgB7A ABmA AېB mA AېB7A AB-A AB mA AېB-A AB
$A A
B -A ABmA A $BrYA AtOB rYA AtOBmA A $B> A AB rYA AtOB> A AB> A AIB L5{@ AyJBSm@ APBKB A32B A32BSm@ APBKBA AA A A AIBmA AېBrYA AtOB rYA AtOBmA AېBA AvB rYA AtOBA AvBћTA AsB ћTA AsBA AvB PA A B +A A^BfA AÒBs@BA A B s@BA A BfA AÒB4VA AB s@BA A B4VA AB߾A A B ߾A A B4VA ABGtA AtOB ߾A A BGtA AtOBA AsB A AsB A A B߾A A B ߾A A B A A BMA AsB ߾A A BMA AsBA AB A ABMA AsBA AtOB A ABA AtOB+A AB +A ABA AtOB̩A AB hA ABA ApBLA A^B LA A^BA ApB?A AvB LA A^B?A AvBWA AÒB WA AÒB?A AvBG_A AWB WA AÒBG_A AWB̩A AB ̩A ABG_A AWB=A A
B ̩A AB=A A
B+A AB L5{@ AyJB A32BX@ AIB X@ AIB A32BO..= A0B X@ AIBO..= A0BIA-> A:.B rYA ABћTA A8B A A B A A BћTA A8B PA A B A A B PA A B 0A AtB 0A AtB PA A B0dKA A8B 0A AtB0dKA A8B*%)A AOPsB *%)A AOPsB0dKA A8BFA AB *%)A AOPsBFA ABw"A AgqB w"A AgqBFA AB.@ A(VB w"A AgqB.@ A(VB'` A ACoB '` A ACoB.@ A(VBJA AlB H@ ARBSI@ AQBffA A hB ffA A hBSI@ AQB @ APB ffA A hB @ APBffA A7B ffA A7B @ APB @ AlOB ffA A7B @ AlOBԚA AM5B ԚA AM5B @ AlOB+=A AJ2B @ Aޒ(BU@ A)B @ AlOB @ AlOBU@ A)B@ A*B @ AlOB@ A*B}A Av,B aP@ APB[mS@ AQB A'sB A'sB[mS@ AQBnY@ ARB A'sBnY@ ARB AwB E/> AwBX@ A(VBэ@ AVB E/> AwBэ@ AVB> A1yB > A1yBэ@ AVB+? A|B [e@ A$UBffA A hB.@ A(VB .@ A(VBffA A hB 0A AjB .@ A(VB 0A AjBJA AlB }A Av,Bi
A A`.B @ AlOB @ AlOBi
A A`.By\A A20B @ AlOBy\A A20B+=A AJ2B > *`? A*(Bg@ AqB`? A*(B > *`? A*(Bg@ AqBg@ AqB X = ) 33A AeB33A AeBA A/NeB X = ) A A/NeB33A AeBA A/NeB h`{> *xA A/NeBA A/NeBI,A AmdB h`{> *xI,A AmdBA A/NeBI,A AmdB %> pjI,A AmdBI,A AmdBA A#bB %> pjA A#bBI,A AmdBA A#bB ? PVA A#bBA A#bBA A aB ? PVA A aBA A#bBA A aB db-? XX<A A aBA A aBjA A^B db-? XX{A A7XB{A A7XBiRA ApMUB !r? >iRA ApMUB{A A7XBiRA ApMUB ,|? (iRA ApMUBiRA ApMUB%A AQB ,|? (%A AQBiRA ApMUB%A AQB ? %A AQB%A AQB%A A^7NB ? %A A^7NB%A AQB%A A^7NB +|? (>%A A^7NB%A A^7NBiRA AJB +|? (>iRA AJB%A A^7NBiRA AJB !r? >>iRA AJBiRA AJB{A ARGB !r? >>{A ARGBiRA AJB{A ARGB 9%a? C>{A ARGB{A ARGBA A/DB 9%a? C>A A/DB{A ARGBA A/DB J? = ?A A/DBA A/DBjA A^AB J? = ?jA A^ABA A/DBjA A^AB Qb-? iXB Qb-? iXBjA A^ABA A^>B ? PV?A A^>BA A^>BA A =B ? PV?A A =BA A^>BA A =B > %pj?A A =BA A =BI,A A;B > %pj?I,A A;BA A =BI,A A;B `{> *x?I,A A;BI,A A;BA Aѱ:B `{> *x?A Aѱ:BI,A A;BA Aѱ:B X = ) ?A Aѱ:BA Aѱ:B33A Aff:B X = ) ?33A Aff:BA Aѱ:B33A Aff:B e 5?33A Aff:B33A Aff:BB Az:B e 5?B Az:B33A Aff:BB Az:B ! o ?x?B Az:BB Az:BWFB A u;B ! o ?x?WFB A u;BB Az:BWFB A u;B 6þ Xl?WFB A u;BWFB A u;Bg B AB FZ?K B Av>Bg B AB +B& B?K B Av>BK B Av>BB A@B +B& B?B A@BK B Av>BB A@B B =B&?B A@BB A@B$B AMCB B =B&?$B AMCBB A@B$B AMCB FZ q?$B AMCB$B AMCBB A1FB FZ q?B A1FB$B AMCBB A1FB ll >B A1FBB A1FB$B ABSIB ll >$B ABSIBB A1FB$B ABSIB 8x o>$B ABSIB$B ABSIB B ALB 8x o> B ALB$B ABSIB B ALB 5 = B ALB B ALB43B A PB 5 =43B A PB B ALB43B A PB e 533A AeB33A AeBB AUeB e 5B AUeB33A AeBB AUeB ! o ?xB AUeBB AUeBWFB AdB ! o ?xWFB AdBB AUeBWFB AdB þ elWFB AdBWFB AdBg B A>cB þ elg B A>cBWFB AdBg B A>cB FZg B A>cBg B A>cBK B AyaB FZK B AyaBg B A>cBK B AyaB +B& BK B AyaBK B AyaBB AF_B +B& BB AF_BK B AyaBB AF_B B +B&B AF_BB AF_B$B A7\B B +B&$B A7\BB AF_B$B A7\B FZ q$B A7\B$B A7\BB AbYB FZ qB AbYB$B A7\BB AbYB ll þB AbYBB AbYB$B AVB ll þ$B AVBB AbYB$B AVB 6x o$B AVB$B AVB B AaSB 6x o B AaSB$B AVB B AaSB 5 B AaSB B AaSB43B A PB 5 43B A PB B AaSB43B A PB B A (B!B A (BB A (B B A (B!B A (B!B A (B B A (B!B A (B A A (B A A (B!B A (B A A (B 5? 5a_A ABOP B AOP#Ba_A AB 5? 5a_A ABOP B AOP#BOP B AOP#B A AAþA AA A AA A AAþA AAþA AA A'sB A32B A'sB A'sB A32B A32B @U ?#
A ApB+? A|B#
A ApB @U ?#
A ApB+? A|B+? A|B ?߾A A Bs@BA A B߾A A B ?߾A A Bs@BA A Bs@BA A B AU? ?@ B A BA ApB@ B A B AU? ?@ B A BA ApBA ApB ( ? PA A B PA A BћTA A8B ( ?ћTA A8B PA A BћTA A8B O`{ *x?ћTA A8BћTA A8BrYA AB O`{ *x?rYA ABћTA A8BrYA AB .; pj?rYA ABrYA ABS]A AB .; pj?S]A ABrYA ABS]A AB PV?S]A ABS]A AB2aA ApgA ABpgA ABCiA AB 4%a W>CiA ABpgA ABCiA AB !r )?>CiA ABCiA AB$kA A $B !r )?>$kA A $BCiA AB$kA A $B 1| (>$kA A $B$kA A $BkA AB 1| (>kA AB$kA A $BkA AB kA ABkA ABkA AIB kA AIBkA ABkA AIB 1| (kA AIBkA AIB$kA AېB 1| ($kA AېBkA AIB$kA AېB !r )?$kA AېB$kA AېBCiA AgB !r )?CiA AgB$kA AېBCiA AgB 4%a WCiA AgBCiA AgBpgA AB 4%a WpgA ABCiA AgBpgA AB
J $= pgA ABpgA ABdA A^B
J $= dA A^BpgA ABdA A^B cb- YX@ A+LB@ A+LBH@ A)0MB @%a )>H@ A)0MB@ A+LBH@ A)0MB !r >>H@ A)0MBH@ A)0MBSI@ AHNB !r >>SI@ AHNBH@ A)0MBSI@ AHNB ,| (>SI@ AHNBSI@ AHNB @ AlOB ,| (> @ AlOBSI@ AHNB @ AlOB @ AlOB @ AlOB @ APB @ APB @ AlOB @ APB /| M( @ APB @ APBSI@ AQB /| M(SI@ AQB @ APBSI@ AQB !r >SI@ AQBSI@ AQBH@ ARB !r >H@ ARBSI@ AQBH@ ARB (%a H@ ARBH@ ARB@ A!SB (%a @ A!SBH@ ARB@ A!SB 5J < @ A!SB@ A!SBW3@ ATB 5J < W3@ ATB@ A!SBW3@ ATB Gb- sXhA ABhA AB"A AB 4%a W>"A ABhA AB"A AB !r )?>"A AB"A ABUA A $B !r )?>UA A $B"A ABUA A $B 1| (>UA A $BUA A $BA AB 1| (>A ABUA A $BA AB A ABA ABA AIB A AIBA ABA AIB 1| (A AIBA AIBUA AېB 1| (UA AېBA AIBUA AېB !r )?UA AېBUA AېB"A AgB !r )?"A AgBUA AېB"A AgB 4%a W"A AgB"A AgBhA AB 4%a WhA AB"A AgBhA AB
J $= hA ABhA ABLA A^B
J $= LA A^BhA ABLA A^B ~b- @X A1yB ? rYA AtOBћTA AsBmA AېB ? mA AېBћTA AsBs@BA A B ? mA AېBs@BA A B-A AgB ? -A AgBs@BA A BGA AB ? rYA ABS]A ABmA A $B ? .@ AaIBg@ AqB7@ AqIB ? 7@ AqIBg@ AqB @ A IB ? ' B A}B\B A*P{B33A AeB ? UA AېB"A AgBA ApB ? A ApB"A AgBhA AB ? A ApBhA AB?A AvB ? ?A AvBhA ABLA A^B ? ?A AvBLA A^BG_A AWB ? G_A AWBLA A^BWA AÒB ? G_A AWBWA AÒB=A A
B ? =A A
BWA AÒB̩A AB ? =A A
B̩A AB+A AB ? +A AB̩A ABA AtOB ? +A ABA AtOBA AB ? A ABA AtOB߾A A B ? S]A AB2aA AA AÒB ? R>A AÒBA AvBqAA AWB ? R>A AÒBqAA AWBiBA AB ? iBA ABqAA AWB
$A A
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