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On the origin of passive rotation in rotational joints, and how to calculate it
Author(s) -
Du Shucen,
Schlattmann Josef,
Schulz Stefan,
Seibel Arthur
Publication year - 2019
Publication title -
pamm
Language(s) - English
Resource type - Journals
ISSN - 1617-7061
DOI - 10.1002/pamm.201900298
Subject(s) - joint (building) , rotation (mathematics) , computation , universal joint , computer science , mechanism (biology) , mathematics , algorithm , geometry , physics , structural engineering , engineering , quantum mechanics
Abstract In this paper, a computation method for the output shaft's rotation of a passive rotational joint, especially of one that is deployed on a parallel mechanism, is investigated. As an alternative to typical geometric or screw theory methods, we propose a new approach that is based on the comparison between any passive rotational joint with a reference spherical joint. As examples, we apply our method to a universal joint and a novel double joint whose passive rotation is difficult to calculate with traditional methods.