Model of a U-Joint with skew axes

摘要

Within this paper a mathematical model of the U-joint with skew axes is presented. It follows an analysis of the positional and orientation workspace of a spatial Stewart-Gough-Platform with planar base . and platform (SGPP) having links with these joints. Starting with a well denned home-pose, we will give an illustration of the singularity-free workspace taking into account limits of the active joints, the passive U-joints and leg interference. The theoretical results will be demonstrated with an example of a 6-6 design.