By Topic

Minimal realization of a spatial stiffness matrix with simple springs connected in parallel

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Roberts, R.G. ; Dept. of Electr. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

This article presents a method for determining a minimal realization of an arbitrarily specified stiffness dominated spatial impedance through the use of a mechanism constructed of passive springs. This mechanism consists of simple springs connected in parallel where the term simple spring refers to a purely translational or purely rotational passive spring. Not every stiffness matrix K can be realized with a parallel connection of simple springs. The characterizing condition is that the upper right 3×3 submatrix of K has zero trace. Using this condition, the author shows how one can always synthesize any realizable spatial stiffness matrix with r parallel simple springs, where r is the rank of K. These results are also applicable to realizing a spatial damping matrix

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 5 )