THE MOTION LAWSSYNTHESIS IN THE POSITIONING MECHANISM MOTOR COUPLES 3R

The manipulator mechanism with 3D working space is characterized by the configuration of three motor rotation couple. In this worksheet we consider R ┴ R ║ R configuration on which characteristic point with first rotation couple ax determine one plan which represent movement plan at the last two elements. With the cinematically modulations you can calculate command functions (position, velocity and acceleration in motor couple) from the condition that tracer point make a movement after a law named movement law. Numerical results are obtained with a program and they are put in diagrams