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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
Journal Article
Date Issued
2018-09-12
Sprache
English
Institut
TORE-DOI
TORE-URI
Volume
198
Start Page
Art.-Nr. 02003
Citation
Asia 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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