Spatial stiffness realization with parallel springs using geometric parameters

IEEE Transactions on Robotics and Automation

Volumn 18, Issue 3, 2002, Pages 274-284

  Choi, Kinkwan ^b   Jiang, Shilong ^c   Li, Zexiang ^a,c  

^a IEEE   (Hong Kong)

^b Information Service Department   (Hong Kong)

^c HONG KONG UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Hong Kong)

Author keywords

Hyperboloid of one sheet; Simple line springs; Spatial stiffness synthesis

Indexed keywords

SIMPLE LINE SPRINGS;

ALGORITHMS; ROBOTIC ARMS; SPRINGS (COMPONENTS); STIFFNESS MATRIX; TORQUE;

MANIPULATORS;

EID: 0036613687     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2002.1019458     Document Type: Article

References (17)

1. Specifying and achieving passive compliance based on manipulator structure
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4. The bounds and realization of spatial stiffness achieved with simple springs connected in parallel
5. The bounds and realization of spatial compliances achieved with simple serial elastic mechanisms
6. The eigenscrew decomposition of spatial stiffness matrices
7. Structure of robot compliance
8. A classification of robot compliance
9. Minimal realization of a spatial stiffness with simple springs connected in parallel
10. Minimal realization of an arbitrary spatial stiffness matrix witha parallel connection of simple complex springs
11. Admittance matrix design for force-guided assembly
12. The spatial stiffness matrix from simple stretched springs
13. Quasistatic asembly of compliantly supported rigid parts