Passive Rotation of Rotational Joints and Its Computation Method

Du, Shucen; Schlattmann, Josef; Schulz, Stefan; Seibel, Arthur

doi:10.1007/978-3-030-20131-9_36

Cited by 2 publications

(3 citation statements)

References 8 publications

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“…A more comprehensive mathematical derivation of the computation method for calculating the passive rotation of rotational joints is given in [6]. (4) that the passive rotations in both output shafts highly depend on each others z-axes.…”

Section: Computation Methods For Passive Rotationmentioning

confidence: 99%

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On the origin of passive rotation in rotational joints, and how to calculate it

Schlattmann

Schulz

et al. 2019

Proc Appl Math and Mech

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In this paper, a computation method for the output shaft's rotation of a passive rotational joint, especially of one that is deployed on a parallel mechanism, is investigated. As an alternative to typical geometric or screw theory methods, we propose a new approach that is based on the comparison between any passive rotational joint with a reference spherical joint. As examples, we apply our method to a universal joint and a novel double joint whose passive rotation is difficult to calculate with traditional methods.

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Section: Computation Methods For Passive Rotationmentioning

confidence: 99%

“…The relation between two outputs is the only factor that determines the passive rotations, but not the input rotation. A more comprehensive mathematical derivation of the computation method for calculating the passive rotation of rotational joints is given in [6].…”

Section: Computation Methods For Passive Rotationmentioning

confidence: 99%

On the origin of passive rotation in rotational joints, and how to calculate it

Schlattmann

Schulz

et al. 2019

Proc Appl Math and Mech

Self Cite

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“…An iterative approach was used in the inverse kinematic solution to compensate for the offset error (Chen et al, 2002). Du et al (2019a) analyzed the calculation of passive rotation in different kinds of joints with 2-DOF in rotation. In addition to this, Du et al (2016Du et al ( , 2019b) also calculated the angle of passive rotation caused by rotational joints in the parallel manipulator.…”

Section: Introductionmentioning

confidence: 99%

Analysis and compensation control of passive rotation on a 6-DOF electrically driven Stewart platform

Huang¹,

Wang²,

Li³

et al. 2021

Mech. Sci.

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Abstract. With the development of motor control technology, the electrically driven Stewart platform (EDSP), equipped with a ball screw or lead screw, is being widely used as a motion simulator, end effector, and vibration isolator. The motor drives the lead screw on each driven branch chain to realize 6-DOF motion of the moving platform. The control loop of the EDSP adopts the rotor position as a feedback signal from the encoder or resolver on the motor. When the moving platform of the EDSP performs translational or rotational motion, the lead screw on each driven branch chain passively generates a relative rotation between its screw and nut in addition to its original sliding motion. This type of passive rotation (PR) of the lead screw does not disturb the motor; hence, it cannot be detected by the position sensor attached to the corresponding motor. Thus, the driven branch chains cause unexpected length changes because of PR. As a result, the PR generates posture errors on the moving platform during operation. In our research, the PR on the EDSP was modeled and analyzed according to the geometry configuration of EDSP. Then, a control method to compensate for the posture errors caused by the PR was proposed. Finally, the effectiveness of the analysis process and compensation control method were validated; the improvement in pose accuracy was confirmed both by simulation and experiments.

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Passive Rotation of Rotational Joints and Its Computation Method

Cited by 2 publications

References 8 publications

On the origin of passive rotation in rotational joints, and how to calculate it

On the origin of passive rotation in rotational joints, and how to calculate it

Analysis and compensation control of passive rotation on a 6-DOF electrically driven Stewart platform

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