Dynamics of robots with Parallel Kinematic Structure

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Autorschaft

  • Martin Grotjahn
  • Bodo Heimann
  • J Kühn
  • H. Grendel

Organisationseinheiten

Externe Organisationen

  • IAV GmbH
Forschungs-netzwerk anzeigen

Details

OriginalspracheEnglisch
Titel des SammelwerksProc. of the 11th IFToMM World Congress in Mechanism and Machine Science
ErscheinungsortTranjin, China
Seiten1689-1693
Seitenumfang5
PublikationsstatusVeröffentlicht - 2004

Abstract

The principal design methodology for such machines is exemplarily discussed by consideration of two machines: the robot PaLiDA which is developed by the Institute of Production Engineering and Machine Tools and a hydraulic test stand HSP with 6 dof developed by the Hannover Center of Mechatronics. The presented approach for modelling of the dynamics takes especially into consideration real-time and parameter identification aspects. It leads to a formulation of the dynamic equations which is linear with respect to a dynamic parameter vector of minimal dimension. The algorithm utilizes JOURDAIN's principle of virtual power using operational space presentation.

Zitieren

Dynamics of robots with Parallel Kinematic Structure. / Grotjahn, Martin; Heimann, Bodo; Kühn, J et al.
Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science. Tranjin, China, 2004. S. 1689-1693.

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Grotjahn, M, Heimann, B, Kühn, J & Grendel, H 2004, Dynamics of robots with Parallel Kinematic Structure. in Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science. Tranjin, China, S. 1689-1693.
Grotjahn, M., Heimann, B., Kühn, J., & Grendel, H. (2004). Dynamics of robots with Parallel Kinematic Structure. In Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science (S. 1689-1693).
Grotjahn M, Heimann B, Kühn J, Grendel H. Dynamics of robots with Parallel Kinematic Structure. in Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science. Tranjin, China. 2004. S. 1689-1693
Grotjahn, Martin ; Heimann, Bodo ; Kühn, J et al. / Dynamics of robots with Parallel Kinematic Structure. Proc. of the 11th IFToMM World Congress in Mechanism and Machine Science. Tranjin, China, 2004. S. 1689-1693
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