THE GEOMETRIC EQUATIONS FOR TWO ROBOTS OF THE TYPE 3TR-2R IN COOPERATION MOVEMENTS

Marinel Ionel RUS, Iuliu NEGREAN, Ionela SOMEȘAN

Abstract


In this paper are presented the geometric equations for a structure of type 3TR-2R. In the cooperative action between the two structures 3TR and 2R, it is aimed that the piece of revolution, represented by the system {G} and {S}, be processed by the tool {T}, after a specific technological process. Two robots in cooperative movements can be likened to a five-axis machining center.

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References


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