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Publisher DOI: 10.1051/matecconf/201819802003
Title: Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions
Language: English
Authors: Du, Shucen 
Schlattmann, Josef 
Schulz, Stefan 
Seibel, Arthur 
Issue Date: 12-Sep-2018
Publisher: EDP Sciences
Source: MATEC Web of Conferences (198): 02003- (2018-09-12)
Journal or Series Name: MATEC web of conferences 
Conference: 2018 Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018) 
Abstract (english): 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.
DOI: 10.15480/882.2076
ISSN: 2261-236X
Institute: Laser- und Anlagensystemtechnik G-2 
Type: (wissenschaftlicher) Artikel
Appears in Collections:Publications (tub.dok)

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