Comparison of three methods of length compensation in a parallel kinematic and their equivalence conditions
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In: MATEC Web of Conferences, Vol. 198, 02003, 12.09.2018.
Research output: Journal contributions › Conference article in journal › Research › peer-review
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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 -