Title :
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
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;
Conference_Titel :
System Theory, 2003. Proceedings of the 35th Southeastern Symposium on
Print_ISBN :
0-7803-7697-8
DOI :
10.1109/SSST.2003.1194589
