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

Publikationstyp
Journal Article
Publikationsdatum
2018-09-12
Sprache
English
Author
Du, Shucen 
Schlattmann, Josef 
Schulz, Stefan 
Seibel, Arthur 
Institut
Laser- und Anlagensystemtechnik G-2 
DOI
10.15480/882.2076
TORE-URI
http://hdl.handle.net/11420/2080
Volume
198
Start Page
Art.-Nr. 02003
Citation
Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)
Contribution to Conference
2018 Asia 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/
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