Passive Rotation of Rotational Joints and Its Computation Method

Shucen Du; Josef Schlattmann; Stefan Schulz; Arthur Seibel

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

Passive Rotation of Rotational Joints and Its Computation Method

Shucen Du^*
, Josef Schlattmann
, Stefan Schulz
, Arthur Seibel

^*Korrespondierende/r Autor/-in für diese Arbeit

Technische Universität Hamburg

Publikation: Beiträge in Sammelwerken › Aufsätze in Konferenzbänden › Forschung › Begutachtung

3 Zitate (Scopus)

Abstract

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.

Originalsprache	Englisch
Titel	Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
Redakteure/-innen	Tadeusz Uhl
Seitenumfang	10
Erscheinungsort	Cham
Herausgeber (Verlag)	Springer Schweiz
Erscheinungsdatum	14.06.2019
Seiten	357-366
ISBN (Print)	978-3-030-20133-3, 978-3-030-20130-2
ISBN (elektronisch)	978-3-030-20131-9
DOIs	https://doi.org/10.1007/978-3-030-20131-9_36
Publikationsstatus	Erschienen - 14.06.2019
Extern publiziert	Ja

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© 2019, Springer Nature Switzerland AG.

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

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Du, S., Schlattmann, J., Schulz, S., & Seibel, A. (2019). Passive Rotation of Rotational Joints and Its Computation Method. in T. Uhl (Hrsg.), Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science (S. 357-366). (Mechanisms and Machine Science; Band 73). Springer Schweiz. https://doi.org/10.1007/978-3-030-20131-9_36

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abstract = "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.",

keywords = "Constant-velocity joint, Passive rotation, Rotational joint, Engineering",

author = "Shucen Du and Josef Schlattmann and Stefan Schulz and Arthur Seibel",

note = "Funding Information: This work was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1. Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

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doi = "10.1007/978-3-030-20131-9\_36",

language = "English",

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Du, S, Schlattmann, J, Schulz, S & Seibel, A 2019, Passive Rotation of Rotational Joints and Its Computation Method. in T Uhl (Hrsg.), Advances in Mechanism and Machine Science : Proceedings of the 15th IFToMM World Congress on Mechanism and Machine Science . Mechanisms and Machine Science, Bd. 73, Springer Schweiz, Cham, S. 357-366. https://doi.org/10.1007/978-3-030-20131-9_36

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 › Begutachtung

TY - CHAP

T1 - Passive Rotation of Rotational Joints and Its Computation Method

AU - Du, Shucen

AU - Schlattmann, Josef

AU - Schulz, Stefan

AU - Seibel, Arthur

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

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BT - Advances in Mechanism and Machine Science

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Passive Rotation of Rotational Joints and Its Computation Method

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