Design e construção de um robot antropomórfico
110
0
0
Texto
(2) 3 378373 681 14173715773678 6
(3) 651733817 1577163178 !"#$%%"!&'(")*"!&'+%*$,&'-)$!!$.!"'/&'0.,1&'2.34" ''''''''''''''''''''''''''''''''''+!,4&5$6. 0123456178379.
(4) 0123454678 9
(5) 5
(6)
(7) 1
(8)
(9)
(10)
(11)
(12) ! " 9/
(13) 0!
(14)
(15)
(16) 1
(17)
(18) (%(,2-(%. #
(19)
(20) $
(21) %&'&()(*)+*,-..%%'). #3
(22) 4 0
(23) 5
(24) 4
(25) 6 " $. 8
(26) 0 1
(27)
(28)
(29) 0! 1!5
(30) 4
(31) 4 %)). 0
(32) 54
(33)
(34)
(35) 1
(36) 178
(37)
(38) 4 4
(39) 5 6. 9:;<=>=?@ABC=;<DB;<E=;=;<D=<D:FE:CB?=GE:<:F<D=<?=;ECBD:<:F<D=<:FEC:;<ECBHBAI:;<=GEC=JF=;<@BCB @C=;EBKL:<D=<@C:MB;<@NHAOPB;<GB;<FGOM=C;ODBD=;<:F<:FEC:;<=;EBH=A=PO?=GE:;<D=<=G;OG:Q<=<D:;<RFBO;<S :HCOJBE:COB?=GE=<=GMOBD:<F?<=>=?@ABC<@BCB<D=@T;OE:<A=JBA<GB<UOHAO:E=PB<9BPO:GBA<=Q<@=A:<?=G:;<:FEC:<@BCB B<HOHAO:E=PB<DB<FGOM=C;ODBD=<C=;@=PEOMBQ<D=M=<P:G;EBC<F?B<DB;<;=JFOGE=;<D=PABCBKV=;W XY<Z[\]X\<[\^<Z<_Y`ab_Zcd\<Y^<ea`\]Q<9d\<f<gY]^ahaXZ<Z<]Yg]\Xicd\<XY<jiZ_jiY] gZ]hY<XYbhZ<hYbYkh]ZUZ_l\. m
(40)
(41) ! nooo+ooo+oooooo 4 oooooooooooooooooooooooooooooooooooooooooooooooo.
(42) 01234567859
(43) ! "#$%&$$'$$$$$ '%%##$$$$ #! (%)*$+%$$%% $#%'$$$ ,-$$$#! .$/#*0$1%' 2$2#%$3$$ $4#! 5#676 68)*69 :$.$7%#;# #%$'$<49 %=>;2?6@A$A@B7@*1$@ CC@D-CD'1! ( $$$'$$4% %$$-$$$$ ! (1%'&2$ #$! #,-$#$$,$8$ #$$,-E5F .7:>?GH+:HIJKHLIIM9"2D 1BN% .
(44) 012345674381947 8426 3454
(45)
(46) 261 82
(47) 91
(48) 214581
(49) !"#$%&'214581(3 356 914 )176
(50)
(51) *1+,2146 '-240. /012324456762/89:";<=;<";>?%?=?@;#>?!" <;??$<;<#?A""B= !";<;= ?C=;?%?= !< # <<#??;D;>? !>=!#$;$&'(3 356 914. E)14F3642
(52) 69 9491G63H1'-240.)IJ)2K++LMN6M344N9:O+G/PO4 22 363Q8124 98H4718126384386131018H42
(53) 81R 29
(54)
(55) 156 S6384 6Q43821T18
(56) U' -8I)/MV.WMX4NNYM344W'4ZM34462N3M344Z9(3 356 914 E)1.. 6.
(57) 012345 6789 77
(58) 898
(59)
(60)
(61) 8 9
(62)
(63) 78
(64) 8 98 9 97
(65) 79
(66) 89
(67) 97
(68)
(69) 9 8
(70) 9
(71)
(72) 9 97 !9 8
(73) 8 98 99
(74) 78 8 9
(75) " 9789
(76) 97#$%
(77)
(78)
(79) 7 9
(80) 8 9
(81) 78 8 99 9 8&$$%9 7
(82)
(83)
(84) 7 78
(85) 9
(86) 79
(87) 9 &$$$%9 8
(88) ' 9
(89) 8 77 77 8 7
(90)
(91) 77" 7( 9)) 9
(92) *+,-.$/0
(93) 19 972&$3%9
(94) 8 9
(95) " 97
(96) 9 9745
(97)
(98) 87 6
(99) 78 8 9 8
(100) 89 979 97 89
(101) 7
(102) 8 77
(103) 8
(104) 7
(105) 7
(106)
(107) 78
(108) )97898
(109) 8 898
(110) )9 9'9 98
(111) 789 9
(112)
(113) 7
(114) 7 897
(115) 7
(116)
(117) 9
(118) 9
(119) 89
(120) 87 77 : 899
(121) 9 9 9
(122) 78 8 99
(123) 7
(124) 89
(125). 9798 88 97
(126) 9
(127) 9 897
(128) 89
(129) ) 999
(130) 89 99
(131) 89 9
(132) 9 8
(133) 797 : 8
(134) 78"
(135) 9 9
(136) ;<=>)7 9 9
(137) 9)
(138) 99 8 9?' 97
(139)
(140) 9
(141) :8 9@
(142) 8
(143) 9 89'9 9
(144) 9 9
(145) 87)
(146) 7 9 A 999 :
(147) 7)
(148) B' 97
(149)
(150) 9
(151) (
(152) 78
(153) 979 9
(154) *+,.$/02)
(155) 8
(156) 9 898
(157) 9 7C8 9 9
(158)
(159) 99 )7
(160) ' .
(161) 789 99 998
(162)
(163) "
(164) 97
(165)
(166) 8
(167) 7 9
(168) 8
(169) D9
(170) 79 7 78
(171) 9
(172) 7 8
(173) 7
(174) 99
(175) 8
(176)
(177)
(178) 7
(179) 7
(180)
(181) 8)9
(182) 7
(183)
(184) 77" )977 7
(185)
(186)
(187)
(188) 7
(189)
(190) ) 8
(191) 7
(192) 7
(193) ' 98 ' 99
(194) 99 9
(195)
(196) : " 97
(197) 9 9745
(198)
(199) 87)
(200) 8 9 88 97
(201)
(202) 779
(203) 8
(204) .
(205) 01234152622074890 2
(206) 744 9 10123489072709412 740 44 0827 69492 92148942462741 60564 9740849032
(207) 82 082040894682 082042672160254 956412642 0827 12089462
(208) 4 262
(209) 56!"01248964#128469. $2262% #24&69289651!6 '0 '56 42148974012% 341'089462
(210) #128%69' 262
(211) #128%69. 0.
(212) 01234563 789
(213) 8 899
(214)
(215) 8 8
(216) 9 98 9
(217) 98
(218) 9
(219)
(220) 88 789
(221) 999 !"9
(222)
(223) 89 #
(224) 9$!!"99
(225) 9% 9 9$!!!" 9 899% 99
(226) 9&'8'
(227) 9($!)" 9
(228)
(229) 9*+
(230) 9 ,9
(231) 789 #
(232) 999 88998 89
(233) 9' 9 ' 9 98999 899899 88 99789-989 89
(234) 9 898 9
(235) 9 9'89 8 9
(236) 99 89
(237)
(238) 98 789 9% 988 8
(239) ./01'929 3
(240) 884/01789958 89 9 ,9
(241) 8 9789 8 6/019
(242) &77 (8 89
(243) 89899
(244) 899 '99
(245) 899 8999 899 9 98999
(246) 89 9'9
(247)
(248) 899 989989 $899% 939 9$89
(249) 9899
(250) 9 : 999%
(251) 9
(252) 899789
(253)
(254) *+
(255) 99
(256) 9
(257) 99
(258) 8% 9 ,9
(259) 93
(260) 899 9
(261) % 989 9 789
(262) 99 99999
(263) 8 ,9
(264) & 9 (899
(265) ; 9998
(266) 98 .
(267) 0121345360783415759811094573415. 6
(268) 10975301110480121336061441547601864575 012134536078341575012138116073415. 444.
(269) 01234561 7 89
(270)
(271) 7 !" # # $%&'()*)!%&+,)+,%++)'( . /0 1
(272) 12 3 4 # 5%6%+)%!7%+,)89:;<= > ## ?@)A+,)+ B ## CDEFDE G ### CHIJ9: # ##K LIMNOIPNOQRNOS9OT9UPVIWENMNP;T: K ##- EVXOYZ=;[9O:;P\P]NTXVJ^_=:P;PVPR`Oa9VON;=RNOJIP;b ##c aDdD e ##e f%&)+%,,),)g+), B ##h SiE_jakd #c ##> FNPNJI= #h #K 5!A+l)+ #> m n
(273) op
(274) 939 30
(275) q
(276) r
(277). .s K t' #B K# $( KKK 5 Kh KK u%)+l)+)'l)+!+ KB KK# C)+%+!%,)%A -G %@.
(278) 01010 23456787959 95 34
(279) 4
(280) 51111111111111111111 01 3 11111111111111111111111111111111 01 831111111111111111111111111111111111 011 8 9538 4 31111111111111111111111 011 5876 5111111111111111111111111111 !"#$%&'(')*+!,$ -. 1 / 0
(281) 74 4
(282) 59 1234567811111111111111111111111 9 1 335: 49 7:5; : 1111111111111111111111 < 10 2=4 59 9 59531111111111111111111111 <> 101 ?8
(283) 8 1111111111111111111111111111 <> 101 @ 53A :5 111111111111111111111111 9 1 85 5: 49:B7: 496 51111111111111111 99 - C!+DE$('+FG HC')!, HI%&' .J K L'IED+&'!M#$N$EO'PD D#' QR C!S!#TI*$+U*NE*'"#VWI$+ JR. =.
(284) 01234567189 42
(285)
(286)
(287)
(288)
(289)
(290)
(291)
(292)
(293)
(294)
(295)
(296)
(297)
(298)
(299)
(300)
(301) !
(302) "#$$%&'$
(303)
(304)
(305)
(306)
(307)
(308)
(309)
(310)
(311)
(312)
(313)
(314)
(315)
(316)
(317)
(318)
(319)
(320)
(321)
(322)
(323)
(324) ( !
(325) ! %&')***+#''"$,
(326) -!((./
(327)
(328)
(329)
(330)
(331)
(332)
(333)
(334)
(335)
(336)
(337)
(338)
(339)
(340)
(341)
(342)
(343)
(344)
(345)
(346)
(347)
(348)
(349)
(350)
(351)
(352)
(353)
(354)
(355)
(356)
(357)
(358)
(359) ( !
(360) 0 %&'12345-#''6
(361) -!((.//
(362) ! !
(363) 7 89-#'':::;<=>=?@ABCABCDEFBBCGHD/
(364) 0 !
(365) IJIK4L2MNO4PMNQ55N5M2RM-#''S$$T U'$
(366) -!((!//
(367)
(368)
(369)
(370)
(371)
(372)
(373)
(374)
(375)
(376)
(377)
(378)
(379)
(380)
(381)
(382)
(383)
(384)
(385)
(386)
(387)
(388)
(389)
(390)
(391)
(392)
(393) !
(394) . PR2VM-#'''1WR5RK2Q4I4RM4L+X"Y"/
(395) Z !
(396) Z ['\T!-#''[$%
(397) -!((!/
(398) /
(399)
(400)
(401)
(402)
(403)
(404) !( !
(405) ] ^'\T^$'_X##8$#'$`-# T '''Va2Rb2Pcd254e2fRNO4L5NMg/
(406)
(407)
(408)
(409)
(410)
(411)
(412)
(413)
(414)
(415)
(416)
(417) ! !
(418) h PNM2T i'$9$$j$,$'
(419)
(420)
(421)
(422)
(423)
(424)
(425)
(426)
(427)
(428)
(429)
(430)
(431)
(432)
(433)
(434)
(435)
(436)
(437)
(438)
(439)
(440)
(441)
(442)
(443)
(444)
(445)
(446)
(447)
(448)
(449)
(450) !0 !
(451) (d234P2-#'''Va2Rb2Pkllmcd254e2fRNJ O4L5NMg/
(452)
(453)
(454)
(455)
(456)
(457)
(458)
(459)
(460)
(461)
(462)
(463)
(464)
(465)
(466)
(467)
(468)
(469)
(470)
(471)
(472)
(473)
(474)
(475)
(476)
(477)
(478)
(479)
(480)
(481)
(482)
(483)
(484) !7 !
(485) 1V5MNRT 'n[ S_X8Y+# ''' o$
(486) -!((Z/
(487)
(488)
(489)
(490)
(491)
(492)
(493)
(494)
(495)
(496)
(497)
(498)
(499)
(500)
(501)
(502)
(503)
(504)
(505)
(506)
(507)
(508)
(509)
(510)
(511)
(512)
(513) !. !
(514) !p'$i'$)M32R
(515)
(516)
(517)
(518)
(519)
(520)
(521)
(522)
(523)
(524)
(525)
(526)
(527)
(528)
(529) !Z 0
(530) qU#rs$'r&U'U'$',T $&'$$''$
(531)
(532)
(533)
(534)
(535)
(536)
(537)
(538)
(539)
(540)
(541)
(542)
(543)
(544)
(545)
(546)
(547)
(548)
(549)
(550)
(551)
(552) 0( 9.
(553) 012 3456789 5
(554) 69 53 4 !"# !$%"1111111111111111111111111 02 010 &#'()#")*)#+!$#%!)#111111 00 01, -)! !"'!))#"*) !))'#!') ./#'"/0#')#$"'!)!')# %!)#1111111111111111111111111111111 0, 012 &$%"3%"#'45 655667 7898 96:1;'!)$# )#%'<#)##)'+!)#"#)0441") #$0"+)##)#=>)#02???111111111111 02 01@ A"")+!')#)##)0"+###=>)#02???11102 01B C*)#<!D"''")#E""0FG@@11111 0H 01H CI#)!!!3##)<+J0D111 ,F 01G =)#)")("#)!!"""'1111111111111111 ,2 01F?C#)!'##)))#)")("#" #%111111111111111111111111111111111 ,2 01FFK"#%L")111111111111111111 ,0 01F2K"#%L")111111111111111111 ,0 01F0-M'#)))3))))!!11111 ,, 01F,D"))) !%))"#NL")#"111 ,2 01F2=)#)%"'"###)!!#)))3)'" #)") !)J)!I"1111111111111111 ,@ 01F@O"##C="'P6QRSTURVW"'"/#'S9 6756XP6 R 76Y59870"+)##)##!#)"*)." )#3%"11 11111111111111111111111111 ,G 01FBZ"):56 68"'"/#')[9X6 6S6:9 7N#' Z=\DEZ]^K_EN!)#%11111111111111111 2? 01FHD"+!M`'"J'!'#a+!'#L")$<"/'#) a)0bcd1111111111111111111111111111 22 M"".
(555) 012345678696 6866
(556) 56 7 58566 9686111111111111111111111111111 01!"7 966596769686# 86 66 686665$86% 5961 111111111111111111111111111111 012&
(557) 9 9 6859676666868 ' 568566 865$86%11111111111111 ( )12 "8# 5 86*+,-./018$$6666 66289634561 7 )1 "89959'" 56% 68659 688$904111111111 3 )10 : 7 6/;$666866 9 6%1111111111111111111111111111111111 ( )1) : 7 <=>-$666866 9 6%1111111111111111111111111111111111 ( )1 ?8268 68986# 55%5967111 () )1( @$A 686668268 %B6C6D$E6862 D 86D: 665967F661111111111 () )1G 45678696# 986 8696 56F59676 ' 8661111111111111111111111111111111111 ( )17 &
(558) 9 966 5656 696868$111111 (( )13 ?967$585685666 68586796%2 666 59679857561 111111111111111111111111111 (G )12!:H7 86% 6898796%811111111 (G )122@$A6 8696 561111111111 (7 )12 I98566 566F9 6%*-101+1?9679 85866 J576CK98!!G611111111111111111111 (3 )120&
(559) 9 96656 6 696868$111111 G! )12)8 669 6%*-101+6596798666L57 86 )12011111111111111111111111111111111111 G2
(560) 555.
(561) 0123456789 6 885
(562) 6 8 6 78885 9 8 8885 9 1 7 65789 5 6 . 7 6 9 . 6 8. 61111111111111111111111111111 312 8 8 7 999 68 ! 85 987 9 7 8 96866 "#$ 8 56 $#8%&'(&) 89*++,-..///0123+3450627.89:;<=>?111111111111111 @A 31B 8 9 7 999 8 89 6! 7. 5 8 7 8787 8 6 9875 68 9 "#$ 8 56 $#8%&'(&)89*++,-..///0123+3450627.89:;<=>?1 @2.
(563) 5#.
(564) 01234567486942.
(565) . !!"#!$#
(566). !%&#&'()!*&#!& *'#+,--.//0.12345467.8 9. : !!!;<=*&#!&*'#< >7-.1/[email protected]/743 :B :
(567) =#*&#!&&#!!#&#*##!&C !!&&&&!&##D&E$#:
(568) F G: : H!&!&I&!&&#!!!&&'"&!!& $#:
(569)
(570) J!!KLM G9 : NO&!&#&&!#&! I&! &&#!!!!&!*#&!&# G9. PD.
(571) 01234567839 7782 8
(572) 7 83 82 733 38
(573) . .
(574) 0123456789 4
(575) 7 57. !"#$%&'$() '*&'+,'-!+!./*$%)!.'+!.0)'%)1!$2+&%'(-(.(+3!*3%4 )(+$!$(&+!*#5%&!.&!+.%-(63(%.78!-!.!.'+!.&(+$!.-(%+3(.$%5',9!(()4 1(.'.-!.)'%.3'%'-!. ')!.'1(.(+$')%+!3',:(.%)1!$'+$(.+(.$(&')1!7 8'$'4.(-(0)'6(')0*$%4-%.&%1*%+' (;0( (;0( 0)(.$0-!-($()'.-%3(.!.< =0+-%+-!6('.&!)!')(&2+%&'<(*(&$#+%&'<%+=!)6$%&'()'$()6$%&'+0).# .%.$()'&!)!!">(&$%3!-(&%' !;0(1!-(.( -(.%5+'-!-( !"!$7 ?'!%5()-($!-!(.$(-(.(+3!*3%)(+$!(.$%3(')!. !"!$.)'+%10*'-!(. 1! $(() 0) 1!$(+&%'*-(0.!(+!)(+'%+-/.$%'7.&'1'&%-'-(.'&$0'%. -( !"!$.)'+%10*'-!(.(@%.$(+$(.+!)(&'-!1()%$() '0$!)'$%A' 1!&(.4 .!.1!-0$%3!. (-0A%+-!'%+$(3(+,9!B0)'+'&!)!'&!+$(&('&$0'*)(+$(+' %+-/.$%''0$!)#3(*7C. !"!$.%+-0.$%'%.+9!%+$('5() -%(&$')(+$(&!) !. !1('-!(.B0)'+!.<'+$(.1(*!&!+$6%!<(.$9!+!)'*)(+$(.(1''-!.1! "'4 (%'.=D.%&'.1! 'A:(.-(.(50'+,'7E) FGGH('1(3%.D3(*;0(+0) =0$0! 1#@%)!< !"!$.-(.(3%,!(;0%1'-!.&!) )(&'+%.)!.-(&!)0+%&',9!(%+$(4 '&,9!&!) B0)'+!..(%') 0.'-!.=!'-!.')"%(+$(.%+-0.$%'%.$'-%&%!+'%. IJ '=($'*7<FGGHK7&$0'*)(+$(<B6>6&'.!.-( !"!$.-(.(3%,!;0(%+$('5() -%(&$')(+$(&!) B0)'+!.<0) (@()1*!L!MNONPQRISB%!)%($'*7<FGGTK;0( .(3(-(50%''1(..!'.+0))0.(07 U!)! (.1!.$'V(3!*0,9!-'.+(&(..%-'-(..!&%'%.' !"#$%&'.!=(00)'&*'' 8.
(576) 0123456789 4
(577) 7 57 !" #! $%&#'()##)!#*" !! ) %+#,-.#$/00123 !4!#$#)#'!5#6 !#-)#7)$#'!))4!#!7)2. 898 :;<=>?>@ <;A;BCDB<;E;@F<GH;I. J7) )!#'K!#)!" !#' )L! '##!6#K%$ 5#6M7% )#N#')!!7# !# 6## ###! )## M)! '##O 6M )))# #5"#'(6#!#'$MP!'# 7))#)#!5Q#'6#M 5-)#7) RSTU!VUWX2$)! ###' Y##!$M!) 6#" ! #'M)#6##)K#,$! #%# !6##*6#M#% 5 -Z[\$/00]2 N #! #!))!!!!# !)#%##$M)!#&P,# #!!!!)))$!!P!" #'KY#$#'##4M#KM# $)!$)#7)$##6# !!! !)#!Z!(7)&M'#P!! 6#!###' )L!)#)!!," #6 $)#)###6P!##!O7) (#'^_`abcbdUeff$&M)! '##'K$6!! )#)##74) $#]Z# g.
(578) 0123456789 4
(579) 7 57 !"#$%&'()**+,' -./ & ! 01&! ! " 2$-()**3,'4! (5.! & " !(/!5!' 6#(2!"#. &! $2 "!!",(&7 #. 8!9 !5!(!: !' 4(;(<! &';" !&"9!!!5!( !!.9! &7! 5! 5!!!5 '=2 5!!" >?@AB C7!&1 ./ ! ! "(! ! !/.'D<!! ! !. 8!.' E"5!8!!"5!& !/2 "(C!/! FC '4& "!8F !: 2!! "#!5!5!(C! : .&7!2 !"( <.: 5!'4(!"!!" !FC#</1! !! ! " (G!! !" C&&<' H5"$IJ3I,F!/ !25! C"("!<!1!!2K,: 3LM,! 7:+NLM,//!:OOL'4( !! ( ! !!//!' P.
(580) 0123456789 4
(581) 7 57 !!! !"# $%"!"!!$&'($# ! )*'+%,-../0,1! 22$'%3% "& !24'!,5!'$! !"#!!! % !"6+"!'($% !"!7)8!#%%,-..90,:"!"# ';!!"&$7%"!!& !&%!!6!#')" !$# 2''%!$$)<&%,-..=00,>$%$!# !7%7?!! !!#&$$%$""2@2! A%)B%,-..CDE%&B-../DE%&%, -../'-..90,* ! '6"+2;4 !!'3!F#%" 6!2""$'# ($"!(#,>!!!" 72(!? 3!"7!("+% !!$!',G&3!"7 '2;6!"!;4!!'3! !$!!% !,. HIJ KLMNOPQRLSLTUSVMNOLWXSWMPXNWWSYMPQRL. 1 "7$%$!!"';"!;4" &"#! F&Z[\]^_`'&2!$! %'%,EF!#6""%! !!>a!b%4)c%, -..90A!('!;"+!!$!! 7d"e]^fg)a%,-..h0 !ij^g)c""-..k0, l.
(582) 0123456789 4
(583) 7 57 !" !"#!"$%&'( #!")*+$*,-'#./01023456787 &."#.9$*:$%( *. !;#. .#*# #<*='.#, ##&$#>?#. !"$*###!"#$> #>?#!"!" %@ $!#>?"#&# #$*.$"&%# :!"$*$,A## && !"B :###!"$,C##> $9$7/08)D25EF0G0H0FGEIJKL105MNO5PH+ QR,R,. STUVWXYZY[\]^]_`abcXdXeTfVgXWVd]^hij_]Z. k.
(584) 0123456789 4
(585) 7 57 !"#"$ "#"%&'"( "#)*"+#"&,+ *"+*-+%*"++"./0"1 %&'#"23456789:;<= &+%"&'" +&'+",+!++" +&>"(!,++! ""%. ?@ABC"##"D "EF+G "H@7I3JBKB5BJK3:LJBMBI:LNONI<5NPLB7IJB9M6N<QB7I3<KJBL<NN:7RKJ:7L:K9<N BSI3<3456767QBI3<JKJ:56I<NT5BIBJNONI<5 67QKBI<7I:696KK9:L6I:B7N :7N<JU:L<JBMBI:LN67QM:B5<Q:L69<7R:7<<J:7RV.W?XWY//Z[\][^__\H. /F+,(+#" & *"+0"#"!, ++"+")"+". ""H`@Ca8`B:7I@LI:B7CL:<7L<67Qa<L37B9BRO,-+"W"'/ "V.bcd^__e]f]bH.? F+"#1(+ "% V+-%&>!!,!,H+ ","+,+&'%+F F+. """Hghij2g<6J7:7RIBJ<6QI3<5BIBJ:7I<7I:B7BSBI3<JNPIBk6JQNNBL:699O:7I<98 9:R<7IJBMBIN=,V?Wb[l.m[n_\\o[^__m,_p[^__]\^[^__pH,F++ &'"+"-+"qWd.. r.
(586) 0123456789 41
(587) 7
(588) 1 4. !"#"$ $%& '(")*(" *$+,-&)'$".")/"$0&."0& /*&." '"1*(" (* "/'0(*(0,)&*2*(03'("4 )* 1'&'$*(* /*.*/'(*(0 (0&*2'.)1*56"0'27 $0!*/56"/"&,)&*2"89"2$!*!'*&02$0:+0.0!*(";)0" !"#"$ ,)&*2<'(0: .01* )*="!&*:." *&/"0>'$'!0$!*#*1,*!('*!'*&02$0/"&,)&*2" 0&,"7 .'$*':0/!'$<!'" ")&0&"0&/**:2*0>0/)56"(0$*!0=* ("('*7*7('*:*'2(* ;)0* /*.*/'(*(0 &"$"!* 0*'2$01'?%2/'*(0$0 !"#"$0$0@*&*'2(*1"2?0(* *.!002$*(* .01" ,)&*2" .*!*!0"130!$*!0=* ('=0!02$0 0/"&.10>*89"&" $*1:+'&."!$*2$0;)0" !"#"$ ." *& 0!/*.*A0 (01'(*!/"& )&*?!*2(0 3*!'0(*(0(0$*!0=* 0"#@0/$" ;)0 002/"2$!*&0&*&#'02$0 ('2B&'/" 026" 0$!)$)!*("8 C01*$'3*&02$0*"0$*("(**!$0(*!"#<$'/**2$!"."&<!D/*: 0!-*.!0027 $*("20$0/*.E$)1")&0$)(" "#!0";)0+=0'$"20$*-!0*."!*1?)2 ?!)." (0'230$'?*56"00&.!0*:="/*2("**$0256"2" $!*#*1," &*' !0103*2$0 0 (0/!0302("*/"2$'$)'56"(" ('30!" !"#"$8 F!""G *2(H$0'2IJKKLM*.!002$*!*& "!"#"$NOP:)& $"!",)&*2<'(0 0;)'.*("/"& )&*/*#05*:"1," 0#!*5" ;)0 0&"3'*& 0*1?)&* /*.*/'(*7 (0 #-'/* .*!*")3'!:*.!02(0!0=*1*!8Q&#"!*"/"2$!"1"(0&"3'&02$" 0@* )&* )2$";)020/0 '$*(0 0!(0023"13'(":2"&0*(*&02$0*0>0/)56"(0&"7 3'&02$" (0="!&**.!">'&*(**" &"3'&02$" ,)&*2":.* ")*(*!70&*' R.
(589) 0123456789 41
(590) 7
(591) 1 4 !"#$%&'$()*$'$( &'*!$'%&'+!$!*,''&'$&$& -.'/!'$!)0!12345/67789":)+$,'($; &)$'<&!*'&!!)$<&!%&'+''.&=/ =!/'',$'!$'/&'-$&!&! '!'$&!&%&&!!0 $'<&!'">%&'$)+$'+$/''$!''; $&')'/$'?9$-<&!;)$$&$; !<&!''*0''.')$- !&/$; )&!-!$&$&$"@$-'%&! ('' !&/$'!/'$'=''A'/''''$! $!'$&!)$!',$/'$ -!%&$'+!'B=.C9=''!A' 23/6778C@$<$"/DEEF9;'&!$!$$!&; $<&!'/0&!$!$$%&')$''$! '$' 'C9!&!$/-!%&'+''.' $-'$!'$A'2G<$"/DEEH/)9-!!$ %&%&''!)$-$'$-'". IJK LMNOPMNQRSTMNUVWTNQRXSYZ[\]^. _!+$ '$''','2''$$ )$9%&&!$$''$'!/$*!&; $"`(<'$*''$''''%&$$!<&!' '$&&$*!$'"ab-&! '!'/'$& $6F7c6F7d&!<&!*$&2e'<!/677d9"e$!$/' '&$''$''&'&''$,!&!; $$'')*$<&!*/''$'&''''$ .$&" >%&&! )$'+'$!<&!*/0!$$%&' f.
(592) 0123456789 41
(593) 7
(594) 1 4 !" #$%&'($ ))&*)')&($ + ,)-.!/ ,0$ 121 $,+3456789:88;<=>:88?4@.)- #)$-!A,BC4DE)&&' ,$ )1$, ) 0)$F$) #1&( *))&1&! A, ) )1,$))$GH *($%)$ ))&, !I(&$ $# 1,% 1&$%')'G($-1 $ ,#&!. JKJ LMNOPQRSTNURVRWS. X,0G$1) )Y(Z+,' 0.[\8C6] +#^1_!`+,..+a$!_bbc.Z)$d4:8efg;hihjh84=fg?j;h:iek l8mng4k49oC8pki88qr+#^1_!`+.#_.+s$!_bbt. Z)$/#Au!")$) 1'#! AY#1&,00))$ ,Z)G#1&v ,B;i@4 +wu1$!_bb_.^1_!`+.!A-)$#1&( ,Z)',xAvyyz"+I({$!_bb_.Z)$ |.
(595) 0123456789 41
(596) 7
(597) 1 4. . . !". #$"%&&. '()*+,-./012)*34+565748*9,3:(;<4. =>?@ABC?DEDAFGH>?HEDAIJ>?KJAL@ABM?NJBEOPQLDRRP. STSTU VWXWYZ[\Z[. ]^_`AHa?@^bB?>H?bEcDACaAB^_^aGEbB^NBEdEef^AAgAHJef^DAaEBAhECDA dE>?bJcEef^iJCE>D^JddEbAEdA>a^AdaAdb^BAEcDAJdEaEBAhEDAd^>CaBEDE b^BJdEbACC^ELjCh^JBAaEcPiOkkkRP. '()*+,-.-0l56578*9,3:(;<mnomnpppq(9,)<9 +<7(+,;,;< 14r5*+<7,2.s-ttu,v.. wx.
(598) 0123456789 41
(599) 7
(600) 1 4 !"#$%&'(')(* '+''(,-./01)'))2') +'3'(4)156)'78 7)'9):)7#./0&');)&7:)7:<6)4' (5&=>>?@5A'(B#./027: (#./0C7' D./0C7:#./0C(431(D./0567(E );));7))F./07'56)'7 <1GH'=5=@4)+)'((1+ :;'))85 67:#./0)IJ'7')7K)H)56)7K) )))H' ' KH'(LMNO7' )H' ' KH'(PQR &)))1);)I 7' )7:7 ,./056('1))7:)(+));)()) '+'5S7:);)))74)7)H'' (7(T:;UV7:;)5 7)IJ'7D./0 )):) #./03W7)&7'J'7';F./05V4 J'))'(:;)X)*)HY7) ))' +'&7X'):))IJ'7 'ZR[\]Z^))I&'7():;&1(7 I5 _)7)H')):;UV:;X7)18) ')))`OZ^Z\& 91()77)))7)H' 47'1)abcQRdNMeZHX7)&);'))1))(E H)7I71)'):;1'(& 7(7'())91)7()f):7X7)'77&' 1)3847') ;)'(7();5g:#./0 ))''H'' K7J'8')J')())X') ; )XH)<6)4'(5&=>>?@5 hh.
(601) 0123456789 41
(602) 7
(603) 1 4. . !"#$%&'()*+,-./01)23'4,52,,+64'78)75'97'4':; :8)6,7)2+<,3'4:.,6,7=5 !"#$9:)6)<,,5'+6,4),7>,5' 5'?,7:@47:+A5'6 ,<+6A7)2':,,5BCD.E:8'F+)2,546 <=: F+':'25'6 6&'@+6 2':4>@+6 ,>46 +6,6G'+6 473+75' :'7:':F+'2'6)'6 <='2'6)'6 ')716,>G5,6)'7''6 F+':' )7:''.. HIJKLMNOPQRSTSUVKWMXYIZ[\]^_`aIWMJ[WL[UILMZMZ[bMWSX[ [UMcOaNddeffO. g4,'>,':8'F+)2,5,465+,:4h6,,:F+'25'65,:'*+75:h7; *+<:i!j'klmn)75'2'75'7'6'7'%opqr0@':G67,5,:7+6 2':4>5' spqr@F+'2'6)',6&)6'7,>G5,4,'>,7+6 ':2,>,4)7,</t. ,>'6 upqrvw:5'<':<4,<)?,5:76x+6 74&'<x'w:7 2+<:.g6G'6y5'5:4,5,+646w:3+7,:@+65:5'5:@2<'*,9 2:,:+:F+,,<46,47'4'7,6G=+6,7,. z'75'647,F+' !"#$1)23'4,52,,2','6,6)'7':75' 97'4'::8),,6,7)2+<,>G5'3'4:@1)5,5,':2'4),<,'7>G,23'45 :):'6,:'7:),<)7'*,57,6G@'6 4,5,5'5':8)742,5+6 :'7: 84)<@':'::G+:,5:2,,4,,4')?,:3'4:,*,,5:F+,7{5+'?,@ |8.
(604) 0123456789 41
(605) 7
(606) 1 4 !"!#$%&'(()*%. +,+,- ./012/31245126728793:/;<1013=8>. ?@ABCDAECDFGCDHIDJIKELAMNCBCEOJPQ RS"!T R U!!R&!"! SRV&RW !%XRVT Y !RSZ"!W "!!&![ !%\R]Y!&TR U!S^I_EID#`Y!'%a*% bcdecf. ghijklmnopqrsrtuvwtvkxhylivy kvthklzlzv{{{|}~~ n. ?R^I_EID&R! CMID. ¡¢£¤¥¦££§££¨§£. ©ª.
(607) 0123456789 41
(608) 7
(609) 1 4 !"#!$%&"!&%!'()(*+,(-./$0!%1% '(23$!%!&%!/0!!45!60&!$!0%%7!-(( '8,+9:%4!5%%1!;&0"!$% <=>?0!@7!!&A!B $!;7!;7&CD!/!$!E0;7!$4!5;%@0$77!60!;$0!B 70!$%F%F5/%7!!!7G%7!%H0%!$!&!! &";7!!"@7% 0%!$%&!!!@!!4E7% !4!%!%1%/&%0!I#/!$!$$$!% 1%/%7H60&!$J"0"!%$!@! ;7@!$!%;!%&;7!%$$$9K!B 45!;%%7;0%%7!L;M=>?/& 7$!!!45!%@0;$ %L;@0"%N)/!%$0!%L!!%&$%$!$!%;$&;$;7;7 OP(,(Q9R!!45!%71!;$! ;%7!"!$%60!7 F;%&!!"!"#! ;7&7!%;%9. STSTU VWXYZ[\]^_Y`]abacdeXWf gh\`a]aWaijYk_WYd]\idYZ fla]m : @0&$4C7!!07C;!F!!%0! ;I%7@!51;%&4"!%60 !$In $7!4!"o !%%%7;7%4C7%/47%% B!07C;%60 ;7B !@o0!;%&!7"o!;$%%&!5;0!4;7;!70!"9p%7% $I ;7&7!!;$%F;$%&0 o0!;!"#!!5q% ;7!B%;!$51$4E7%/!@!HB"%/!;&0"HB"%&!%%HB"%!0 o0!;9r;$&4!%!F!%;0C;%F0;;!/J0%!$!$;LB !$!7!7%&!!;7"!%I;7%$47/@!;$7!E7C!% 0%60n;!%$I;7%;7!$%s7!F!9t A&"$0 47 ;%70G$;%7 ;%7707J47u3Ov@;7!"9/wxxyQ/&E7!$ &!!7!F!%$%I5"!"#!/;o!@!!4E7%;0!4B ;7$%;o$4%7H0"%%7H7%$;L %9p4!7;o!%0@$ &%7;707%z{u9 |}}}~~ . .
(610) 0123456789 41
(611) 7
(612) 1 4 !"#$%"#&''#'"!(")*+,-./01234+565 0+70680065/59/50:;+50+70<<-5=8+<>+50:-=/80?@>+A+6<2 <+/<-<+50<+:<-08B65=<=*-<@;0/>-?@;>-<=<--*<C6+-<+ <+:<+<>+7?0=00+-:750?@>07080;.+<<>9/50:;>-+6?@> 890>9/50:++6:9+6-5+:>+A+6<)D<<-E>-<+082;1FFG42. HIJKLMNOPQRSTUVRSSWXYZ[\]XTS^S[\_U``\`[Za[bIcMJdcLdeIf LMgMgdhijjIkgIjdeMlObNmmNnnO. 7->+<+:90>=00<+/5<-<+500:=5oE6+0>0=0> 005-+:+9/50:;/<0:>+6:8.-006/08++5+<0+8+6->02p/5< 0:=5oE6Eq:/505+<0>+5>0-:+0.-65/59/50:>/ 80>>05+<02 r060+?0+5 stuv )w!(+x#y"4++<C+z/-=0>065 >/0<6{500<0 6+<)750:>/5 <-<+50'"4+5-67:+<2<-<+50>+*-<@B60=0| >++7+6/0+6:9+6-5+:>+A+6<;+6:9+6+.+<<++<-50=<-?@+ -+:0?@}~>+A+6<2+50-:>0/5<+./:><-<+50<++Eq:05+<0 /<0>=00+<-500>-+6?@>890>9/50:65z/+5+<C0008902 <-<+5006<-6B65=<=5-67:+<;/5 '"!>++6:9+6-5+: >+7080+/5<-:+-|0>>+70802 6:E./0?@>0?/<0>0B<+5+890:+>+/50?9/50:65/5 5>+ tuv;/56*+865tuv+/5=/8<65 tuv;=+70|+:>/5 08>+tuv2r+:0:6=+505B5tuv;-<=+5-+0/5+:0 .
(613) 0123456789 41
(614) 7
(615) 1 4 !!"#$ %&'(&) $*+,-$'. &!'& )!'(!' &$&+,!/&0%* 1$'$&)*-0& $'$*(&(231 +245546&%$6+. 78789 :;<;. =0>?&'!2@ABC6 $D'(D&3!'(E '(.(&)+=.0&& #'(& #&'(!+F!G #&'(&&('('(HIJKLILM #&'()-) &&&'G) ) &'(1!0#E &G%$&)+ NOPOQRST =-)$-UVHWMVWXYIZ[\[WL[]^F_F >$-0&`E #0&>&&&+ a/bVJVWIcL2d)4+e6$%-&` )#?'(&2 &%6&`!0%+ =$'bVJVWIcL!?% !0 %*!&+=% fghijklmno pqrkjspiotoiu. vw.
(616) 0123456789 41
(617) 7
(618) 1 4. !"#" $%$#&&#&#'()*+,.--/012324. 56789:9;<=7>7?@9A?;>B678CB?D6;A@;D7;?A9?B<D69EB@F9GD9>BA>9A9BAF7AF9 >B?F7@769<F67?G@9=9H IJ9687?B=BKL7AFBM>B<=L<=7A9N I7K@7A@BMB?@7K7L<=7A7N I6B?;?FOA@;7MFB=DB67F<67G>B=9>97?<D96F769;F9L967?>BF6757KL9A9 B?D789N I=9P;=BAF9??<7PB?N I6B><A>QA@;7N I?BR<67A87N IR7=7>B=9P;=BAF9?S<BBT@B>7=9?>B<==B=569L<=7A9U V?=W9?>9XYZY[\]^FO= <= F9F7K>B_`abcUdW9@9A?F;F<e>7?D96<= 7AFB56789S<B@9AFf=gh=9F96B?B9?@9AF69K7>96B?BKB@F6iA;@9?G<=D<K?9@9= jabcB<=7=W9>B@;A@9>B>9?@9= _jabcUk76FB>9?R67<?>BK;5B6>7>B S<B7=W9>;?DCB@9A:B6B=lKLB7@7D7@;>7>B>B=7A;D<K7695EB@F9?mF6O?>B>9?G ?BA>9<=>BKB?9D9KBR76nGBAS<7AF9S<B9?6B?F7AFB?DB6=;FB=S<B<=95EB@F9 ?BE77R7667>9>B:96=7o6=BBAS<7AF9f=7A;D<K7>9m>B>97ABK76G=;A>;AL9B7 D7K=7>7=W9nU V@75B87B?FpBS<;D7>7@9=qDBS<BA7?@Q=767?S<B:96AB@B= P;?W9r^stsY 799DB67>96GDB6=;F;A>9<=7?BA?78W9>BD69:<A>;>7>BUV>;?FQA@;7;AFB6l9@<K76 uv.
(619) 0123456789 41
(620) 7
(621) 1 4 !" #$%&& &&'()* + ,--./#%0!1( (**% &'(%!2 &+%((3)# + !4 (5/*(( )5)5'*#/ 67 ((!1(5 89:;/<=>?@AB!1 + ()5/C7)&'/(/* )(573(5'7&* D*7(! 1*0(3( 7/*()!E($ 33/$F367 (%57*%)!2 7(3 )&$(G(H/5') 35'5'((!1(5) )5)(I+(5/(/(*)$) (5703/(*#)5 )5 )*!1)5I/&*$ (((I!2(5'7(/$)( (5'% (#)& *)5(! 2()3 D/%&& ((/ #/ 5I )/(JK9:;!L%%/ +(5%(/&&/ %5'M)/%*(* $%(5))! NO.
(622) 0123456789 41
(623) 7
(624) 1 4. . !"#$%&%"%"'&$"%&()*&+,)-". $%)/. %)$+#0+&$1/2&#"$ %"+"$3/$&"%"$"!)1!."-)". #)45-0&&-#)+).5#60&%"$%"789:;<"$%" "-,)(=)#&. &3/ %"$"!)1!%)$!>#)$#)4)-$?/.&5%"$ -"2#&%)%!"#$&$ -"0)1)2&$;@$-"$01/".)ABCDEFGHI&-)(789JK(0&+&L%"&%&#/$&%))$ %)$.".4#)$="#)#"$"%"-#&$+)#-&#)4M"0-)$&2&##&%)N)$0).&$.,)$3/" +)$$/O&.$"$)#"$->0-"$P)#)4)-.Q$0)ABCDEFRHS/2&)&%I&-)(78T9K( 3/"0)$"2/&1"#/.&+&/-&./$0&10).)$)1?)$"-)0&#."1)%&$%"%60/1%&%" .U%&/. -"01&%)"1"0-#50)P)VWXWYZFR(3/"-#&4&1?&". 0)M/-)0). /. +�"#)?/.&)P")#)4)-4O+"%"N)ABC[B\ ]&$?.)-)"-&1;H^::^K; _`a`bc @.788d(=)0#&%))+#)-5-+)%"/.#)4)-?/.&5%"0).!$-&&"="0-/&#" #"&1L&#-#)0&%"=)#.&e,)0).?/.&)$(0).))."%"VWXWYZFGH]&$?.)-) "-&1;(7889K; f&0)-/&e,)%"$-"+#)M"0-)=) 0)$-#/O%))VWXWYZFRH!"#g2/#&^;9K3/" -"2#&#"0)?"0."-)%)&.4"-"+)#!$,)0).&0&+&0%&%"%"0)!"#$&e,) H#"0)?"0."-)"$O-"$"%"=&1&K"/$&2"$-)$)$"/0).+)#-&."-)($"%)&$$. 0&+&L%"-"#&2#0).?/.&)$;h)$$/ =/ei"$%"-"#&0e,)=O$0&+&#&.&-"# 0)-&0-)%#"0-)0).?/.&)$%"/.&=)#.&$/&!""$"2/#&;$/&=)#.&,)U -)-&1."-"&-#)+).5#60&(+)$$/%)#)%&$&+&#-" ="#)#3/"1?"+"#. -". .)!."-&#N$"; ]&$?.)-)"-&1;H^::^K)="#"0"./.&!$,)2"#&1%)$$$-".&$3/"0)$--/". "$-"#)4)-;.,)-"./.&=)#.&&-#)+).5#60&0).3/&-#)%"%)$"jklmn; o+)1"2&#-".plmn(-&10).)/.%"%)?/.&)("3/&-))$)/-#)$%"%)$-q. klmn;f&4&$"%"0&%&%"%)"$->0)1)0&%)/.$"$)#%"=)#e&r4>#)%"$"$ "s)$;-#&!U$%"$-&0&#&0-"#O$-0&-)#&N$"+)$$O!"1/.& -"#&0e,)%#"0-&0). ?/.&)$(0).)+)#"s".+1)&+"#-&#.,)$)/+&$$&#)4M"0-)$;0)62/#&e,) "1)0&1L&e,)%)$2#&/$%"14"#%&%"%)4#&e)=)#&. %"-"#. &%&$-"%)0).) tu.
(625) 0123456789 41
(626) 7
Documentos relacionados