MATEC Web Conf.
Volume 198, 20182018 Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)
|Number of page(s)||6|
|Published online||12 September 2018|
Comparison of Three Methods of Length Compensation in a Parallel Kinematic and Their Equivalence Conditions
Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany
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.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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