0
RESEARCH PAPERS

Structure of Robot Compliance

[+] Author and Article Information
T. Patterson

Engineering Science and Mechanics Program, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332–0405

H. Lipkin

The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332–0405

J. Mech. Des 115(3), 576-580 (Sep 01, 1993) (5 pages) doi:10.1115/1.2919228 History: Received March 01, 1990; Online June 02, 2008

Abstract

The structure of nonsingular robot compliance is investigated by applying screw theory to two eigenvalue problems. For the first problem the eigenscrews are demonstrated to be Ball’s (1990) principal screws of the potential. Several new propositions are presented characterizing compliance matrix eigenstructure. Using a novel formulation, the second eigenvalue problem generalizes the three wrench-compliant axes of Dimentberg (1965) to include three twist-compliant axes. These two types of compliant axes are shown to be reciprocal and define conjugate screw systems. The wrench- and twist-compliant axes are demonstrated to the general elements of a compliant axis hierarchy.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Structures , Robots
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In