Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions
Research output: Journal contributions › Conference article in journal › Research › peer-review
Authors
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 language | English |
|---|---|
| Article number | 02003 |
| Journal | MATEC Web of Conferences |
| Volume | 198 |
| Number of pages | 6 |
| ISSN | 2274-7214 |
| DOIs | |
| Publication status | Published - 12.09.2018 |
| Externally published | Yes |
| Event | 2018 Asia Conference on Mechanical Engineering and Aerospace Engineering - China University of Geosciences, Wuhan, China Duration: 23.06.2018 → 25.06.2018 http://www.meae.org/2018.html |
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.
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