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Item type:Publication, Access status: with files , Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditionsThis paper is a further development of a previous work (PAMM 16, 51-52). In this paper, we derive an analytical formulation of the linear actuators' length variations for a 2-1-2 DOF joint designed parallel hexapod based on Riebe and Ulbrich's method (Arch. Appl. Mech. 72, 817-829) and the Euler angles based matrix method. The equivalence conditions as well as the computation errors are given and compared with a quaternion based method.Publicationtype: Conference PaperScopus© Citations 2 263 290