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
;

$!
*"!$%
%
$"
$$$
$$
!!&$"
$
*$$
$
&$%
E$
!"
$$$
!"

$$$
$!'
$"
$$&
%!$
$
$%%
$&$!"
$
*!
$"$
$!
%$
%$
$%$"
$$
$$"$
$&
*$%!$$$$
"



/
Figure 2 – A Chrysler assembly line integrated
with spherical robots for spot welding.

=&&%

$
%%%$5
$&
$
'">)&
$
!$
!5
!"$
&!$&
$$
("
)&&
$&"
!'9

&
$"
•

&
!
&

&
•

$*
•

G*$&
5!'
"

)$&
$$
•
B&
$5


'!'
'

Figure 1 – Rectangular robot fitted with spot
welding equipment

H
&$
$&!
''9!"
•

)$&
%
•

C!
$&

)$"
•

:!
$!
"
•

:$$!
$&

$!'$"$!
$0.
$&"

$
&$&$
"

7&!
$
&
"!&
%(
%$&

%$
&%&$
("
$&
("


$&
!  
&"  $  $
 $
&&"!
$&! !
 *"    
   &    !
&$$!
"$&!

$&
!,"#!  
& $   & ! 
0   !
"
$&$ 
 $  &'  
  ! $"

Biw Welding Fixtures

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