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Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions
Citation Link: https://doi.org/10.15480/882.2076
Publikationstyp
Conference Paper
Date Issued
2018-06
Sprache
English
Institut
TORE-DOI
TORE-URI
First published in
Number in series
198
Article Number
02003
Citation
12th. Internationale Conference on Mechanical Engineering and Aerospace Engineering, (MEAE 2018)
Contribution to Conference
Publisher DOI
Scopus ID
Publisher
EDP Sciences
This 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.
DDC Class
600: Technik
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