TY - JOUR

T1 - Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions

AU - Du, Shucen

AU - Schlattmann, Josef

AU - Schulz, Stefan

AU - Seibel, Arthur

N1 - Funding Information: The research described in this paper was supported by the German Research Foundation (DFG) under grant SCHL 275/15-1. Publisher Copyright: © 2018 The Authors, published by EDP Sciences.

PY - 2018/9/12

Y1 - 2018/9/12

N2 - 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.

AB - 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.

KW - Engineering

UR - http://www.scopus.com/inward/record.url?scp=85054222053&partnerID=8YFLogxK

U2 - 10.1051/matecconf/201819802003

DO - 10.1051/matecconf/201819802003

M3 - Conference article in journal

AN - SCOPUS:85054222053

VL - 198

JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

SN - 2274-7214

M1 - 02003

T2 - 2018 Asia Conference on Mechanical Engineering and Aerospace Engineering

Y2 - 23 June 2018 through 25 June 2018

ER -