By Topic

Minimal realization of an arbitrary spatial stiffness matrix with a parallel connection of simple and complex springs

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 State Univ., Tallahassee, FL, USA

This article presents a method for determining a minimal realization of an arbitrary spatial stiffness matrix K through the use of a mechanism constructed of a parallel connection of springs. Two types of springs are used: simple and complex. The term simple spring refers to a purely translational or purely rotational passive spring while a complex spring couples translational and rotational components. Any symmetric positive definite spatial stiffness matrix can be realized with a parallel connection of such springs. However, to reduce the compliance mechanism's complexity, it is desirable to minimize the number of complex springs. This article presents a method for determining minimal realizations for any symmetric positive definite or semi-definite spatial stiffness matrix. These realizations are minimal in the sense that they minimize both the number of complex springs and the total number of springs

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference:

2000