3D SPACE KINEMATICS OF A ROBOT FOR PROCESS AUTOMATION IN METALLURGY

This paper presents the main results of a study on the kinematics in 3D space of a robot used for process automation in metallurgy. The robot is studied as a mechanical system with twelve degrees of freedom consisting of seven rigid bodies. The transition matrices between the local and reference coordinate systems are defined in symbolic form. The position vectors and linear velocities of characteristic points are also defined in symbolic form as well as angular velocities of bodies from the mechanical system. A calculation algorithm is compiled and entered into a standard mathematical software product. Results are obtained in symbolic form and are valid for all mechanical systems with an analogous dynamic model. The kinematics results represent a basis for studying the dynamics and vibrations of a robot for automating processes in metallurgy.