Details
| Translated title of the contribution | Maßsynthese für Parallele Roboter: Einheitliche Kinematik und Dynamik mit vollständigen kinematischen Zwangsbedingungen |
|---|---|
| Original language | English |
| Title of host publication | Sechste IFToMM D-A-CH Konferenz 2020 |
| Publication status | Published - 2020 |
| Event | Sechste IFToMM D-A-CH Konferenz 2020 - Lienz, Austria Duration: 27 Feb 2020 → 28 Feb 2020 Conference number: 6 |
Abstract
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Sechste IFToMM D-A-CH Konferenz 2020. 2020.
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research
}
TY - GEN
T1 - Dimensional Synthesis of Parallel Robots: Unified Kinematics and Dynamics using Full Kinematic Constraints
AU - Schappler, Moritz
AU - Ortmaier, Tobias
N1 - Conference code: 6
PY - 2020
Y1 - 2020
N2 - A variety of different structures for parallel kinematic machines (PKM) have been found by means of systematic structural synthesis. To find the structure that is suited best for a specific task, an efficient and generic selection method is necessary. For simple structures with multi-degree-of-freedom joints like the Gough-Stewart robot, methods for modeling and dimensional optimization are well established. Less methods are available for more complex structures with single-degree-of-freedom joints. This contribution combines general approaches for the modeling of the kinematics and dynamics of parallel robots to obtain an efficient dimensional synthesis of PKM.
AB - A variety of different structures for parallel kinematic machines (PKM) have been found by means of systematic structural synthesis. To find the structure that is suited best for a specific task, an efficient and generic selection method is necessary. For simple structures with multi-degree-of-freedom joints like the Gough-Stewart robot, methods for modeling and dimensional optimization are well established. Less methods are available for more complex structures with single-degree-of-freedom joints. This contribution combines general approaches for the modeling of the kinematics and dynamics of parallel robots to obtain an efficient dimensional synthesis of PKM.
U2 - 10.17185/duepublico/71211
DO - 10.17185/duepublico/71211
M3 - Conference contribution
BT - Sechste IFToMM D-A-CH Konferenz 2020
T2 - Sechste IFToMM D-A-CH Konferenz 2020
Y2 - 27 February 2020 through 28 February 2020
ER -