• DocumentCode
    2039050
  • Title

    The spatial stiffness matrix from simple stretched springs

  • Author

    Selig, J.M.

  • Author_Institution
    Sch. of Comput., Inf. Sys. & Math., South Bank Univ., London, UK
  • Volume
    4
  • fYear
    2000
  • fDate
    2000
  • Firstpage
    3314
  • Abstract
    Looks at the stiffness matrix of some simple but very general systems of springs supporting a rigid body. The stiffness matrix is found by symbolically differentiating the potential function. After a short example attention turns to the general structure of the stiffness matrix and in particular the principal screws introduced by Ball (1900)
  • Keywords
    Lie algebras; differentiation; eigenvalues and eigenfunctions; matrix algebra; robots; potential function; principal screws; rigid body; simple stretched springs; spatial stiffness matrix; symbolic differentiation; Algebra; Fasteners; Potential energy; Robots; Springs; Symmetric matrices; Tensile stress;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
  • Conference_Location
    San Francisco, CA
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-5886-4
  • Type

    conf

  • DOI
    10.1109/ROBOT.2000.845218
  • Filename
    845218
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2039050