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

2019/03/07 by Du, Shucen, Schlattmann, Josef, Schulz, Stefan +1
#Technik

paper · doi:10.15480/882.2076

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.

Related

• On using inertial measurement units for solving the direct kinematics problem of parallel mechanisms
• Study of the Dynamic Coupling Term (μ) in Parallel Force/Velocity Actuated Systems
• Redundancy in Parallel Mechanisms: A Review
• Kinetostatic Performance of a Planar Parallel Mechanism with Variable Actuation
• Calibration of Parallel Kinematic Machine Based on Stewart Platform-A Literature Review