Passive Rotation of Rotational Joints and Its Computation Method

Research output: Contributions to collected editions/worksArticle in conference proceedingsResearchpeer-review

Authors

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.

Original languageEnglish
Title of host publicationAdvances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
EditorsTadeusz Uhl
Number of pages10
Place of PublicationCham
PublisherSpringer Schweiz
Publication date14.06.2019
Pages357-366
ISBN (print)978-3-030-20133-3, 978-3-030-20130-2
ISBN (electronic)978-3-030-20131-9
DOIs
Publication statusPublished - 14.06.2019
Externally publishedYes

Bibliographical note

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.

    Research areas

  • Constant-velocity joint, Passive rotation, Rotational joint
  • Engineering