Minimal realizations of spatial stiffnesses with parallel or serial mechanisms having concurrent axes

DOI10.1002/ROB.1011zbMath0992.70007OpenAlexW2046346120MaRDI QIDQ2711923

Joseph M. Schimmels, Shuguang Huang

Publication date: 20 August 2001

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.1011

zbMATH Keywords

stiffness matrixparallel mechanismscompliance matrixserial mechanismsstiffness centercompliance centerminimal set of control parameters

Mathematics Subject Classification ID

Thin bodies, structures (74K99) Control of mechanical systems (70Q05) Robot dynamics and control of rigid bodies (70E60)

Related Items (2)

Realization of those elastic behaviors that have compliant axes in compact elastic mechanisms ⋮ Stiffness analysis for a 3-PUU parallel kinematic machine

Cites Work

• On the \(6\times 6\) Cartesian stiffness matrix for three-dimensional motions.
• Quasi-Static Assembly of Compliantly Supported Rigid Parts

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