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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Short summary
The electrically driven Stewart platform (EDSP) is used widely. However, the passive rotation (PR) on driven branch chains can generate posture error on the end effector. Compensation control strategy is designed to avoid effects of PR on posture accuracy of the 6-DOF (degrees of freedom) EDSP based on calculation and analysis. The validity of analysis and the effectiveness of the compensation method used to improving posture accuracy are proven by simulation and experiments on a 6-DOF EDSP.
MS | Articles | Volume 12, issue 2
Mech. Sci., 12, 1027–1036, 2021
https://doi.org/10.5194/ms-12-1027-2021
Mech. Sci., 12, 1027–1036, 2021
https://doi.org/10.5194/ms-12-1027-2021

Research article 24 Nov 2021

Research article | 24 Nov 2021

Analysis and compensation control of passive rotation on a 6-DOF electrically driven Stewart platform

Qitao Huang et al.

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Short summary
The electrically driven Stewart platform (EDSP) is used widely. However, the passive rotation (PR) on driven branch chains can generate posture error on the end effector. Compensation control strategy is designed to avoid effects of PR on posture accuracy of the 6-DOF (degrees of freedom) EDSP based on calculation and analysis. The validity of analysis and the effectiveness of the compensation method used to improving posture accuracy are proven by simulation and experiments on a 6-DOF EDSP.
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