Mathematical modeling of a 3r robot structure in the nominal configuration

The main purpose of this paper is to develop a study on the direct geometry and kinematics of an RRR-robot (with three degrees of freedom of rotation), in the nominal configuration. For this purpose, the algorithm of locating matrices was applied, to determine the direct geometry equations. To compute the velocities and accelerations relatively to fixed system, the algorithm of transfer matrices was used. The results are useful to establish the equations of the motion trajectory.