Algorithms for passive compliance mechanism design

Author

Roberts, Rodney G. ; Shirey, Theresa A.

Author_Institution

Dept. of Electr. & Comput. Eng., Florida State Univ., Tallahassee, FL, USA

fYear

2003

fDate

16-18 March 2003

Firstpage

347

Lastpage

351

Abstract

In this article the authors study the spatial stiffness of passive compliance mechanisms. The mechanisms under consideration are characterized by the 6 by 6 spatial stiffness matrix. Several algorithms for realizations of spatial stiffness matrices are examined. The stiffness constants of the realization are related to the eigenvalues of the linear force portion of the stiffness matrix. Finally, a new method is presented for determining minimal realizations of an arbitrarily specified stiffness dominated spatial impedance. The resulting mechanism is constructed with a parallel connection of simple passive springs that are purely translational or purely rotational.

Keywords

eigenvalues and eigenfunctions; elastic constants; force control; robot dynamics; eigenvalues; force control; passive compliance mechanism; passive springs; robotics; spatial impedance; spatial stiffness matrix; stiffness constants; Algorithm design and analysis; Eigenvalues and eigenfunctions; Force control; Impedance; Manipulators; Manufacturing; Position control; Robotic assembly; Robots; Springs;

fLanguage

English

Publisher

ieee

Conference_Titel

System Theory, 2003. Proceedings of the 35th Southeastern Symposium on

ISSN

0094-2898

Print_ISBN

0-7803-7697-8

Type

conf

DOI

10.1109/SSST.2003.1194589

Filename

1194589