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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.

Related subject area

Subject: Mechanisms and Robotics | Techniques and Approaches: Mathematical Modeling and Analysis
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Cited articles

Ahmad, A., Andersson, K., Sellgren, U., and Boegli, M.: Evaluation of Friction Models for Haptic Devices, DSCC 2013 ASME Dynamic Systems and Control Conference, 21–23 October 2013, Stanford university, Munger Centre, Palo Alto, CA, USA, 2013. 
Chen, X. S., Chen, Z. L., Kong, M. X., and Xie, T.: An accurate solution for forward kinematics of 6-SPS Stewart platform based on neural network, Journal of Harbin Institute of Technology, 2002, 120–124, 2002 
Conte, J., Santolaria, J., Majarena, A. C., Brau, A., and Aguilar Martín, J. J.: Laser Tracker Error Modeling and Kinematic Calibration Strategy, Key Eng. Mat., 615, 63–69, https://doi.org/10.4028/www.scientific.net/kem.615.63, 2014. 
Ding, B., Cazzolato, B. S., Grainger, S., Stanley, R. M., and Costi, J. J.: Active Preload Control of a Redundantly Actuated Stewart Platform for Backlash Prevention, in: IEEE International Conference on Robotics & Automation, Karlsruhe, Germany, 6–10 May 2013, 1908–1915, https://doi.org/10.1109/ICRA.2013.6630830, 2013. 
Du, S., Schlattmann, J., Schulz, S., and Seibel, A.: Passive Rotation Compensation in Parallel Kinematics Using Quaternions, P. Appl. Math. Mech., 16.1, 51–52, https://doi.org/10.1002/pamm.201610014, 2016. 
Publications Copernicus
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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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