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RESEARCH PAPERS

A Classification 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), 581-584 (Sep 01, 1993) (4 pages) doi:10.1115/1.2919229 History: Received March 01, 1990; Online June 02, 2008

Abstract

The concept of compliant axes is developed from the compliance matrix eigenvalue problem. It is shown that the necessary and sufficient conditions for the existence of a compliant axis are two collinear eigenscrews with eigenvalues of equal magnitude and opposite sign. This leads to a new classification of compliance matrices based on the number of compliant axes. Selected matrices from the literature illustrate both the compliant axis concept and the classification.

Copyright © 1993 by The American Society of Mechanical Engineers
Topics: Robots , Eigenvalues
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