PARTICULARISATION OF THE GENERAL MATHEMATICAL MODEL 3T3R – 3T3R APPLIED TO A STRUCTURE TYPE 1T – 2T

Ioan VUSCAN, Iuliu NEGREAN, Kalman KACSO, Ancuta MIRCEA

Abstract


Starting from the equations for a most complex structure type 3T3R-3T3R by using of certain restrictions on the general model can be accomplish any types of kinematic structures. Particularization is relatively easy to make because the required restrictions are applied to the geometrical-constructive parameters and of linear and angular coordinates, these being depend by the type of kinematic structure take on study. In this paper are presented the equations for the simplest and most widely used machine tool structure, and namely 1T-2T.

Key words: kinematic structures, applied mechanics, machine tool, 1T-2T 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 modeling 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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