Ein Beitrag zur Entwicklung und Analyse serieller und paralleler Strukturen

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Abstract This thesis presents a multi-body-system approach which can be used to build up the control engineering of serial or parallel mechanism. The model, based in this multi-body system approach can although be used in a simulation process in order to represent a parallel or serial robot. The development of a system which can describe various parallel or serial systems for both control engineering and simulation technology offers the way to a simulation environment used in small business companies.