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Pièces fixes |
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| 1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
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| Pièces mobiles |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Repérage
cinématique |
| 1 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 2 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 3 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 4 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
| |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 5 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
| |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 6 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
| |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 7 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
| |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
| 8 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
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9 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
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10 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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| |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
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11 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
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12 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
Tx |
Rx |
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13 |
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Ty |
Ry |
Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
Tx |
Rx |
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14 |
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Ty |
Ry |
Ty |
Ry |
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Tz |
Rz |
Tz |
Rz |
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Tx |
Rx |
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15 |
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Ty |
Ry |
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Tz |
Rz |
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16 |
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Symbolisation |
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