Proceedings of SerbiaTrib '13

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Ws= ∑KFKj Kjj = 1f⋅⋅υKj(4)where: f Kj is friction coefficient between the pins ofthe output shaft and the holes of the cycloid discand υ Kj is sliding speed between the pins of theoutput shaft and the holes of the cycloid disc.Power loss due to friction between thecylindrical rollers, the surface of the ring gear andtheir housing in the planet wheel is:presented in the paper, too (Figure 4, Figure 5 andFigure 6).Dependence of cyclo drive efficiency on inputpower is presented on Figure 4. Input power wasvaried in range from 3 kW to 5 kW. Increasing theinput power, cyclo drive efficiency is increasing,too (from 93% to 96%). Values of efficiencycalculated by Malhotra [11] and Gorla [12] methodare very similar.WNn= ∑ ρ ⋅ sin( arctg(f )) ⋅Nii = 1FNi⋅ ωNi(5)where: ρ is radius of cylindrical roller, f Ni is frictioncoefficient between the cylindrical rollers and theirhouses and ω Ni is relative rotational speed betweenthe cylindrical rollers and the cycloid disc.Vertical component of force F Ni is calculatedbased on following expression:The efficiency of cyclo drive can be calculatedas:P − ( W + W + W )EM Ma Kη =N (6)PEMFigure 4. Dependence of cyclo drive efficiencyon input power3. CALCULATION OF CYCLO DRIVEEFFICIENCYThe efficiency of cyclo drive by two presentedmethod is has calculated for input parameters inTable 1.Table 1. Cyclo drive parametersMarkP EMValue4,0 kWn EM 1420 min -1u CR 13f r1 , f r2 , f r3 f r1 = f r2 = f r3 = 0,003f S1 , f S2 f S2 = f S2 = 0,03d 08 mmD 014 mmq 8d vk8 mm14 mmD vkCyclo drive efficiency is calculated in programcreated in MATLAB. Values of cyclo driveefficiency are:• η = 94,55% (Malhotra method),• η = 95,03% (Gorla method).Analysis of the influence of input power P EM ,input number of revolutions n EM and gear ratio u CRon cyclo drive efficiency by both method isFigure 5. Dependence of cyclo drive efficiencyon input number of revolutionsDependences of cyclo drive efficiency frominput number of revolutions is presented on Figure5. Number of revolutions was varied from 1180min -1 to 1660 min -1 . Increasing the input numberof revolutions, cyclo drive efficiency decreases (forboth method, Figure 5).Dependence of cyclo drive efficiency on gearratio is presented on Figure 6. Gear ratio was variedin range from 11 to 16. Increasing the gear ratio(Malhotra method), cyclo drive efficiencydecreases from 95% to 94%. For Gorla method,cyclo drive efficiency increases from 94,8% to95,3%.232 13 th International Conference on Tribology – Serbiatrib’13
Figure 6. Dependence of cyclo drive efficiencyon gear ratio4. CONCLUSIONTwo methods for calculating of cyclo driveefficiency are presented in this paper (Malhotra andGorla method). Their complete analytical modelsare defined. The calculation of the cyclo driveefficiency by both methods is done for the real onestagecyclo speed reducer.By analyzing the results, it can be concluded thenext:• One-stage cyclo drive has very highefficiency,• Both method (Malhotra and Gorla) havevery similar values for efficiency,• With increasing of input power, cyclo driveefficiency is increasing too,• With increasing of input number ofrevolutions, cyclo drive efficiencydecreases,• With increasing of gear ratio, cyclo driveefficiency decreases (Malhotra method), orincreases, (Gorla method).REFERENCES[1] M. Lehmann: Calculation and measurement offorces acting on cycloidal speed reducer (inGerman), PhD Thesis, Technical UniversityMunich, Germany, 1976.[2] S.V. Thube, T.R. Bobak: Dynamic analysis of acycloidal gearbox using finite element method,AGMA Technical Paper, 2012.[3] M. Blagojević, V. Nikolić - Stanojević, N.Marjanović, Lj. Veljović: Analysis of cycloid drivedynamic behavior, Scientific Technical Review,Vol. LIX, No. 1, pp. 52-56, 2009.[4] V. Kosse: Using hysteresis loop and torsional shockloading to asses damping and efficiency of cyclodrives, 14 th International Congress on Sound andVibration, 9-12. July, 2007, Cairns, Australia.[5] J. Liu, S. Matsumura, B. Chen, H. Houjoh:Torsional stiffness calculation of double-envelopingcycloid drive, Journal of Advenced MechanicalDesign, Systems and Manufacturing 6, pp. 2-14,2012.[6] M. Blagojević, N. Marjanović, B. Stojanović, Z.Đorđević, M. Kočić: Influence of friction on theforce distribution at cycloidal speed reducer, 12 thInternational Conference on Tribology, 11-13.5.2011, Kragujevac, pp. 226-229.[7] M. Blagojević, M. Kočić, N. Marjanović, B.Stojanović, Z. Đorđević, L. Ivanović, V.Marjanović: Influence of the friction on thecycloidal speed reducer efficiency, Journal of theBalkan Tribological Association, Vol. 18, No. 2, pp.217-227, 2012.[8] J. Sensiger: Unified Approach to Cycloid DriveProfile, Stress, and Efficiency Optimization, Journalof Mechanical Design (ASME), Vol. 132, 2010.[9] M. Chmurawa, A. Lokiec: Distribution of loads incycloidal planetary gear (CYCLO) includingmodification of equidistant, in: 16 th EuropianADAMS user conference, 2001, Berchtesgaden,Germany.[10] M. Blagojević, N. Marjanović, Z. Đorđević, B.Stojanović, A. Dišić: A new design of a two-stagecycloidal speed reducer, Journal of MechanicalDesign (ASME) 133, 2011.[11] S.K. Malhotra, M.A. Parameswaran: Analysis of acycloidal speed reducer, Mechanism and MachineTheory 18, pp. 491-499, 1983.[12] C. Gorla, P. Davoli, F. Rosa, C. Longoni, F.Chiozzi, A. Samarani: Theoretical and experimentalanalysis of a cycloidal speed reducer, Journal ofMechanical Design (ASME) 130, 2008.13 th International Conference on Tribology – Serbiatrib’13 233
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SerbianTribologySocietyFacultyofEng
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Serbian Tribology SocietyUniversity
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Supported byMinistry of Education,
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PrefaceThe International Conference
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ContentsPlenary Lectures1. THE GREE
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27. WEAR CHARACTERISTICS OF HYBRID
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Tribometry57. PRELIMINARY STUDY ON
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Plenary Lectures13 th International
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Serbian TribologySocietySERBIATRIB
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Figure 4. Diagram of the height and
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Realization of the approach is base
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edge without chamfer and smaller ra
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Figure 7. Accumulated tool life in
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Figure 13. Calculated and measured
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Friction deformation of the bronze
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engine cylinders of 2-cylinder-twot
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Table 1: Chemical composition of sa
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Table 4: Comparative wear-resistanc
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- measuring of coating thickness h
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Figure 5. Functional scheme of the
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Table 2. Test results for massive w
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knowledge transfer in the field ofm
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Table 1. Parameters of the electroc
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Figure 6. Wear resistance by linear
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coatings and observed their good we
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c)a)Figure 2: SEM images and micros
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Room temperature 300°CNi/µSiCNiNi
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COF [-] COF [-]Fig.9: COF graphs at
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about 260 nm is related to isolated
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contact’s conformity [18] they ob
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In order to calculate the metallic
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microscopic inspection of the Rp3 s
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otating plate. The shaft passes thr
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similar trends of variation are obs
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smooth, gear fiber-mild steel rough
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[2] Tabor, D.: “Friction and wear
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(10, 50 and 100 N) against surface
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[9] B.R. Gligorijevic, A. Vencl, B.
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dielectric properties, high resista
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parameter, Sv, was slightly influen
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dependence of roughness height and
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Polyethylenes with a molecular weig
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[9] K.S. Kanaga Karuppiah, A.L. Bru
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MgCO3•CaCO3 (13% Mg), and carnall
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fully compatible with MRI/MSCT imag
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5. CONCLUSIONThe magnesium alloys a
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Zinc dialkyldithiophosphate (ZDDP)
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C- Lower deposits with NPNA on comb
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films. Carraro et al. [10] examined
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PlateCount No.Critical Load ( N)120
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solid melt of ZA27 alloy using mech
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SiC particles are uniformly distrib
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in number of micro-cracks and clust
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PBT has the average values of the f
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mechanical pressure and thermal loa
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3. EXPERIMENTAL RESULTSTaking into
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[12] L. Blunt De, X. Jiang: Advance
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2. EXPERIMENTALTESTING2.1 MaterialT
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figure 3a it could be seen that the
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and lubrication is done so that the
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5. CONCLUSIONFigure 11. The accumul
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esistance was found for composite c
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onze, which is embedded within the
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The test contact pair meets the req
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complete. The SEM analysis maycontr
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tg( ) tg 100, [%] (2)tgwhere are:
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corresponding to the maximum value
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electrostatics [17]. Due to the fle
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250nm size have been observed, acco
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ETH Zurich, Switzerland, where all
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comparison with the synthetic reinf
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3. RESULTS AND DISCUSSION3.1 Micros
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(a)(b)Figure 4. Showing (a) variati
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composites. But the composite compo
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coated and uncoated region after ad
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has been measured between the top s
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Fig. 9 shows the wear track obtaine
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Mica samples preparationFor the ads
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Page 197 and 198: [21] B. G. Sharma et al.: Character
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Page 203 and 204: Table 3. Friction coefficients of s
Page 205: A.K.Oleynik, V.M.Matsevity, ea.]. /
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Page 211 and 212: Most of the friction units of produ
Page 213 and 214: In order to provide both high parts
Page 215 and 216: Fig. 3. The comparison the criterio
Page 217 and 218: Table 3. Experimental and calculate
Page 219 and 220: For developing the numerical model
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Page 241 and 242: Figure 1. Friction force on side su
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Page 251 and 252: FNF (11)R sin cos11 21 22FNF
Page 253 and 254: Normal force [N]4000350030002500200
Page 255 and 256: analytical tests. The analytical te
Page 257 and 258: Table 4. Results of zero samples of
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Page 263 and 264: 4. PLASTIC BEARING APPLICATIONSRega
Page 267 and 268: For Elastohydrodynamic film thickne
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Page 271 and 272: For Thrust Force of 40KNKrytox 215
Page 273 and 274: Krytox 215 (µ = 0.03204 Pa.s)Figur
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Page 283 and 284: AcknowledgementThe part of this res
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Figure 1. Appearance of fractured f
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implementation of these new manugac
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additional energy is dissipated due
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The adopted geometry parameters are
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4. CONCLUSIONTools of virtual produ
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Figure 2. Structure of the machinin
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3. ANALYSIS OF RESULTSThe results o
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Figure 15. Surface roughness regard
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From the analysis of the diagram it
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comparison from economic, energy co
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Advantages and disadvantages of tra
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The information provided by footwea
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Force (N)5,554,543,532,521,510,50Ex
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additives, that had been, until rec
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Figure 1. Test results for samples
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Table 7. Test results of oil sample
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Input parameters- Current intensity
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edge formed into a thin line. At th
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Lower values of current are not res
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Table 1. Chemical composition of si
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flowable at high temperatures and v
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holes (pits) emerge in the shape of
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[4] W. Schatt, K-P. Wieters, Pulver
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assumption allows us to use, instea
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where P is the load, a - radius of
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determination (total running in tim
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μm, compared with Figure 17, wich
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Serbian TribologySocietySERBIIATRIB
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Especially when the chain transfer
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is obvious that this isa so-calledw
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winches. The authors are inclined t
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find parameters of robot laser hard
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each of which is measured by the le
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Fractal dimensions were determined
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Figure 3. Modified force acting sch
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0.25Lubricant: L3DC 04Friction coef
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nanocomposites. The influence of fi
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4. RESULTS AND DISCUSSION4.1 Morpho
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Figure 6. Loading and unloadin vers
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3 8 12 1 4 2 4
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The material after qualifying the r
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It has already been mentioned that
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Degradation & Stability, Vol. 69, N
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conformance to researchers’ requi
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This part is assembled of pneumatic
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matrixes describe the state of the
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values influence of themeasurement
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Figure 1. Friction stir weldinga -
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(t 2 t
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M fr / T [-] [-]10.90.80.70.60.50.4
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M fr / T [-]10.90.80.70.60.50.40.30
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experimentally determined that for
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4. DISCUSSIONAccording to the theor
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2.1 The life cycle of the reportThe
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Obviously the report is checked and
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uticaja na osnovu kompozita, a time
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5. ZAKLJUČCIStruktura tiksolivene
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dobijene različite karakteristike
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vizuelno, na dnevnoj svetlosti, pod
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LITERATURA[1] Зинченко В.
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Slika 1. Rotorni bager - glodar VII
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stvaraju sliku stanja i svoja zapa
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njihovih kotrljanih elemenata. Mere
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postupka i uticaja parametara depoz
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posledica različite raspodele mikr
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ZrO 2 Y 2 O 3 je takođe zbog oksid
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3.2 Pneumatska osetljivostOblast pr
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p mg (δ), koji je zbog malih struj
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PNEUMATIC PROBE HEAD SELECTION FOR
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1. Podsistem kopanja2. Podsistem pr
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Slika 3. Kriva habanjaNa tom dijagr
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Mjereni su parametri habanja i pril
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preše prevladavaju kombinirani uvj
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a) b)Slika 5. Karakteristična mikr
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varijantnih materijala u dostavnom
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Jovanović D. 414, 446KKaleicheva J
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CIP - Каталогизација
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