Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions

Publikationstyp
Conference Paper
Date Issued
2018-06
Sprache
English
Author(s)
Du, Shucen
Schlattmann, Josef
Schulz, Stefan
Seibel, Arthur
Institut
Laser- und Anlagensystemtechnik G-2
TORE-DOI
10.15480/882.2076
TORE-URI
http://hdl.handle.net/11420/2080
First published in
MATEC web of conferences
Number in series
198
Article Number
02003
Citation
12th. Internationale Conference on Mechanical Engineering and Aerospace Engineering, (MEAE 2018)
Contribution to Conference
12th. Internationale Conference on Mechanical Engineering and Aerospace Engineering, (MEAE 2018)
Publisher DOI
10.1051/matecconf/201819802003
Scopus ID
2-s2.0-85054222053
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
Lizenz
https://creativecommons.org/licenses/by/4.0/
Loading...
Thumbnail Image
Download
Name

matecconf_meae2018_02003.pdf

Size

607.63 KB

Format

Adobe PDF