Du, ShucenShucenDuSchlattmann, JosefJosefSchlattmannSchulz, StefanStefanSchulzSeibel, ArthurArthurSeibel2019-03-072019-03-072018-09-12Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)http://hdl.handle.net/11420/2080This 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.enhttps://creativecommons.org/licenses/by/4.0/TechnikJournal Articleurn:nbn:de:gbv:830-882.02754410.15480/882.207610.1051/matecconf/20181980200310.15480/882.2076Journal Article