The Duality in Spatial Stiffness and Compliance as Realized in Parallel and Serial Elastic Mechanisms
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Published:2000-01-21
Issue:1
Volume:124
Page:76-84
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
Huang Shuguang1, Schimmels Joseph M.1
Affiliation:
1. Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI 53201-1881
Abstract
Spatial elastic behavior is characterized by a 6×6 positive definite matrix, the spatial stiffness matrix, or its inverse, the spatial compliance matrix. Previously, the structure of a spatial stiffness matrix and its realization using a parallel elastic system have been addressed. This paper extends those results to the analysis and realization of a spatial compliance matrix using a serial mechanism and identifies the duality in spatial stiffness and compliance associated with parallel and serial elastic mechanisms. We show that, a spatial compliance matrix can be decomposed into a set of rank-1 compliance matrices, each of which can be realized with an elastic joint in a serial mechanism. To realize a general spatial compliance, the serial mechanism must contain joints that couple the translational and rotational motion along/about an axis. The structure of a spatial compliance matrix can be uniquely interpreted by a 6-joint serial elastic mechanism whose geometry is obtained from the eigenscrew decomposition of the compliance matrix. The results obtained from the analysis of spatial compliant behavior and its realization in a serial mechanism are compared with those obtained for spatial stiffness behavior and its realization in a parallel mechanism.
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference23 articles.
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