Generalized center of compliance and stiffness
Generalized center of compliance and stiffness
复制标题
广义柔量中心和刚度中心
DOI：
10.1109/robot.1992.220077
复制
发表时间：
1992
期刊：
影响因子：
--
通讯作者：
T. Patterson
中科院分区：
文献类型：
--
作者：
H. Lipkin;T. Patterson
许多机器人系统的弹性特性可以通过6*6的刚度或合规矩阵来建模。通过螺丝理论提出了三个结果。首先，确定依从性和刚度的固定值。其次，线性和旋转特性的特征是三维空间中的双椭圆形。第三，提出了广义的弹性（依从性和刚度）。如果存在一个符合符号的轴，则证明它可以穿过中心。这些元素简化了对复杂弹性特性的理解。<< etx >>
The elastic characteristics of many robot systems can be modeled by a 6*6 stiffness or compliance matrix. Three results are presented via screw theory. First, stationary values of compliance and stiffness are determined. Second, linear and rotational properties are characterized by dual ellipsoids in three-dimensional space. Third, a generalized center-of-elasticity (compliance and stiffness) is proposed. If a compliant axis exists, it is shown to pass through the center. These elements simplify the understanding of complex elastic properties.<<ETX>>