THE MATHEMATICAL MODEL FOR A KINEMATIC STRUCTURE TYPE 3T3R – 3T3R

Ioan VUSCAN, Iuliu NEGREAN, Kalman KACSO, Ancuta MIRCEA

Abstract


In this paper are presented the geometric equations for the most and complex structure type 3T3R – 3T3R. The structure is compound from a positioning and orientating structure of the TOOL and the other is afferent of the PIECE. Both structures are in cooperation on a platform commune. Starting from the general cooperating model type 3T3R – 3T3R the equations can be applied for any type of kinematic structure.

Key words: kinematic structures, applied mechanics, cooperation, machine tool, 3T3R structure

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References


Negrean, I., Vuscan, I., Haiduc , N. (1998), Robotics: Kinematic and Dynamic Modeling, Didactical and Pedagogical Publishing House, Bucharest, Romania

Negrean, I., Duca, A., Negrean, D.C., Kacso, K. (2008), Advanced mechanics in robotics, UT Press, Cluj-Napoca, Romania

Mircea, A., (2011), Contributions regarding the modelling and simulation of kinematics structures of machining centers and compensation of positioning and orientation errors of the workpieces – PhD Thesis, Technical University of Cluj-Napoca, 2011, Cluj-Napoca,Romania


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