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

Shucen Du; Josef Schlattmann; Stefan Schulz; Arthur Seibel

doi:10.1051/matecconf/201819802003

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

Shucen Du
, Josef Schlattmann
, Stefan Schulz
, Arthur Seibel

Technische Universität Hamburg

Publikation: Beiträge in Zeitschriften › Konferenzaufsätze in Fachzeitschriften › Forschung › Begutachtung

2 Zitate (Scopus)

Abstract

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.

Originalsprache	Englisch
Aufsatznummer	02003
Zeitschrift	MATEC Web of Conferences
Jahrgang	198
Seitenumfang	6
ISSN	2274-7214
DOIs	https://doi.org/10.1051/matecconf/201819802003
Publikationsstatus	Erschienen - 12.09.2018
Extern publiziert	Ja
Veranstaltung	2018 Asia Conference on Mechanical Engineering and Aerospace Engineering - China University of Geosciences, Wuhan, China Dauer: 23.06.2018 → 25.06.2018 http://www.meae.org/2018.html

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Publisher Copyright:
© 2018 The Authors, published by EDP Sciences.

Fachgebiete und Schlagwörter

Ingenieurwissenschaften

ASJC Scopus Sachgebiete

Chemie (insg.)
Ingenieurwesen (insg.)
Werkstoffwissenschaften (insg.)

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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

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U2 - 10.1051/matecconf/201819802003

DO - 10.1051/matecconf/201819802003

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JO - MATEC Web of Conferences

JF - MATEC Web of Conferences

M1 - 02003

T2 - 2018 Asia Conference on Mechanical Engineering and Aerospace Engineering

Y2 - 23 June 2018 through 25 June 2018

ER -

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

Abstract

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