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    Item type:Publication, Access status: without files ,
    Passive Rotation of Rotational Joints and Its Computation Method
    (Springer, 2019)
    Du, Shucen
    ;
    Schlattmann, Josef
    ;
    Schulz, Stefan
    ;
    Seibel, Arthur
    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.
    Publicationtype: Conference Paper
      209
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    Item type:Publication, Access status: without files ,
    Assembly Modes of General Planar 3-RPR Parallel Mechanisms when Using the Linear Actuators’ Orientations
    (Springer, 2019)
    Schulz, Stefan
    ;
    Seibel, Arthur
    ;
    Schlattmann, Josef
    In this paper, we show that the number of possible assembly modes for the general planar 3-RPR parallel mechanism, where P denotes active prismatic joints and R denotes passive revolute joints, can be significantly reduced when using the linear actuators’ orientations in-stead of their lengths. The linear actuators’ lengths lead to a univariate polynomial which can have up to six different solutions and thus provides up to six assembly modes. By measuring the orientations of the linear actuators, provided, e. g., by inertial measurement units, only two assembly modes exist. Furthermore, by using two orientations of the linear actuators in addition to the moveable manipulator platform’s orientation, only one assembly mode remains.
    Publicationtype: Conference Paper
      321