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Structural Synthesis of Parallel Robots with Unguided Linear Actuators
Author(s) -
Schulz Stefan,
Seibel Arthur,
Schlattmann Josef
Publication year - 2017
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201710054
Subject(s) - actuator , linear actuator , rotation (mathematics) , computer science , robot , control theory (sociology) , parallel manipulator , degrees of freedom (physics and chemistry) , cylinder , mechanical engineering , engineering , artificial intelligence , physics , control (management) , thermodynamics
In this paper, we show that a Stewart‐Gough platform with ball screw linear actuators that do not inhibit a rotation between the upper and the lower cylinder, so‐called unguided linear actuators, still has six degrees of freedom if universal joints are used as lower and upper joints. Such parallel mechanisms can be described as 6‐UHPU types. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)