CINEMATICS OF THE 3R DYAD

Resumo

This paper presents some original methods to determine the kinematic parameters at the 3R dyad. It is starting with a trigonometric method, which has the advantage to determine very quickly the positions angles. The velocities can be determined faster using the vectorial method, so, to the second proposed method, one uses the first method for the positions, and the vectorial method for the determining of the velocities and the accelerations. The third proposed method is a geometric method, which determines first the kinematic parameters of the internal couple (C) and then the rotation angles with their derivatives.