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Stiffness Matrix Synthesis Algorithms For Pre Loaded Planar Structures
1106
Category : Science » Robot Science
robotic mechanism is usually modeled by a 6 by 6 symmetric positive . a non-symmetric stiffness matrix for a robotic mechanism and .
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Content Summary :
Abstract — The force regulation and inevitable positional inaccuracy of
traditional control system can be compensated bythe
compliance/stiffness mechanism. The compliance/stiffness of arobotic
mechanism is usually modeled by a 6 by 6 symmetric positivedefinite
matrix at an equilibrium point using screw theory. When anexternal
wrench is exerted on the mechanism and the mechanismmoves away from its
equilibrium, the modeled compliance/stiffnessmatrix becomes
non-symmetric. In this article, the authors derivea non-symmetric
stiffness matrix for a robotic mechanism andmanipulate the stiffness
matrix into a particularly simple form usingmatrix algebra. Based on
the canonical form of the stiffness matrix,the authors present two
novel synthesis procedures for the desirednon-symmetric stiffness
matrix of planar structures when the structureis not in equilibrium.
Keywords – non-symmetric stiffness matrix, compliance mechanism, simple
spring modeling, screw theory.
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