Study of the kinematics of a disc-pin working body Rinat Abdrakhmanov, Maxim Kononov, Marat Kalimullin, Irina Troyanovskaya, Rustem Sakhapov and Ilgiz Razetdinov E3S Web of Conf., 443 (2023) 04004 Published online: 09 November 2023 DOI: 10.1051/e3sconf/202344304004