Dynamics of robots with Parallel Kinematic Structure

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Authors

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

Research Organisations

External Research Organisations

  • IAV GmbH
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Details

Original languageEnglish
Title of host publicationProc. of the 11th IFToMM World Congress in Mechanism and Machine Science
Place of PublicationTranjin, China
Pages1689-1693
Number of pages5
Publication statusPublished - 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.

Cite this

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. p. 1689-1693.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › 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, pp. 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 (pp. 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. p. 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. pp. 1689-1693
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