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

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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.

Original languageEnglish
Article number02003
JournalMATEC Web of Conferences
Number of pages6
Publication statusPublished - 12.09.2018
Externally publishedYes
Event2018 Asia Conference on Mechanical Engineering and Aerospace Engineering - China University of Geosciences, Wuhan, China
Duration: 23.06.201825.06.2018

Bibliographical note

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.