Passive Rotation of Rotational Joints and Its Computation Method
Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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Passive Rotation of Rotational Joints and Its Computation Method. / Du, Shucen; Schlattmann, Josef; Schulz, Stefan et al.
Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . Hrsg. / Tadeusz Uhl. Cham : Springer Schweiz, 2019. S. 357-366 (Mechanisms and Machine Science; Band 73).Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › begutachtet
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TY - CHAP
T1 - Passive Rotation of Rotational Joints and Its Computation Method
AU - Du, Shucen
AU - Schlattmann, Josef
AU - Schulz, Stefan
AU - Seibel, Arthur
N1 - Funding Information: This work was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1. Publisher Copyright: © 2019, Springer Nature Switzerland AG.
PY - 2019/6/14
Y1 - 2019/6/14
N2 - This paper discusses the equivalence condition of the input and output rotation of a passive rotational joint and provides a general method to compute the output rotation angle. In a Stewart-Gough platform, the fixed base platform is usually connected to the moveable manipulator platform by six identical kinematic chains consisting of rotational joints and linear actuators. When using lead screws for the linear actuators, possible passive rotations of the rotational joints can be harmful because they may lead to additional length variations of the linear actuators or cause extra stresses if the rotations are obstructed. This paper provides a for computing these passive rotations by using vector comparison and demonstrates its application on the examples of a universal joint, a Rzeppa joint, and a Tracta joint.
AB - This paper discusses the equivalence condition of the input and output rotation of a passive rotational joint and provides a general method to compute the output rotation angle. In a Stewart-Gough platform, the fixed base platform is usually connected to the moveable manipulator platform by six identical kinematic chains consisting of rotational joints and linear actuators. When using lead screws for the linear actuators, possible passive rotations of the rotational joints can be harmful because they may lead to additional length variations of the linear actuators or cause extra stresses if the rotations are obstructed. This paper provides a for computing these passive rotations by using vector comparison and demonstrates its application on the examples of a universal joint, a Rzeppa joint, and a Tracta joint.
KW - Constant-velocity joint
KW - Passive rotation
KW - Rotational joint
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85067551991&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-20131-9_36
DO - 10.1007/978-3-030-20131-9_36
M3 - Article in conference proceedings
AN - SCOPUS:85067551991
SN - 978-3-030-20133-3
SN - 978-3-030-20130-2
T3 - Mechanisms and Machine Science
SP - 357
EP - 366
BT - Advances in Mechanism and Machine Science
A2 - Uhl, Tadeusz
PB - Springer Schweiz
CY - Cham
ER -