THE GEOMETRIC EQUATIONS OF TWO MACHINE TOOL TYPE 3T3R IN COOPERATION

Ancuta Mircea, Kalman Kacso, Iuliu Negrean, Ioan Vuscan, Radu Morariu-Gligor

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.

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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;


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