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une liaison nulle entre la pièce grise et la pièce verte, p.62 ,
une liaison glissière entre la pièce grise et la pièce verte 67 ,
une liaison pivot entre la pièce grise et la pièce verte, p.68 ,
une liaison hélicoïdale entre la pièce grise et la pièce verte 69 ,
une liaison rotule entre la pièce grise et la pièce verte, p.70 ,
Sur la figure de gauche, le positionnement d'un pion cylindrique est donné par la coïncidence de leurs axes. À gauche, le positionnement d'un pion prismatique (base carrée) est donnée par la coïncidence de trois arêtes, p.79 ,
De gauche à droite : le pion vert est positionné à la verticale au dessus du trou à l'aide du guidage géométrique, puis les collisions sont désactivées et la contrainte cinématique est appliquée (le pion devient bleu), p.104 ,
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