The Geometric Equations For Two Robots Of The Type 3tr-2r In Cooperation Movements

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 [5], 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.