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Modellierung einer mobilen Hybridkinematik und Umsetzung am Beispiel der Flugzeuginspektion
Citation Link: https://doi.org/10.15480/882.1280
Publikationstyp
Thesis
Thesis Type
Doctoral Thesis
Publikationsdatum
2016-02
Sprache
German
Author
Editor
Advisor
Referee
Title Granting Institution
Technische Universität Hamburg
Place of Title Granting Institution
Hamburg
Examination Date
2015-12-18
Institut
First published in
Schriftenreihe Flugzeug-Produktionstechnik;1
Number in series
1
Publisher
BoD – Books on Demand, Norderstedt
This Thesis deals with kinematic modelling of a mobile hybrid mechanism. Essentially, methods for selecting the partial mechanism, a modular calculation method for the kinematic transformation, a novel approach to detect the proximity to singularities and a simulation tool to design and optimize the mechanical structure is developed. The methods are approved in practice by developing a mobile hybrid robot for aircraft inspection.
Schlagworte
Hybridkinematik
Kinematische Modellierung
Automatisierte Flugzeuginspektion
Mobiler Industrieroboter
DDC Class
620: Ingenieurwissenschaften