Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 12, issue 2
Articles | Volume 12, issue 2
https://doi.org/10.5194/ms-12-1027-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-12-1027-2021
© Author(s) 2021. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 12, issue 2
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, Peng Wang, Bowen Li, and Qingjun Yang

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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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