| contributor author | T. Patterson | |
| contributor author | H. Lipkin | |
| date accessioned | 2017-05-08T23:42:06Z | |
| date available | 2017-05-08T23:42:06Z | |
| date copyright | September, 1993 | |
| date issued | 1993 | |
| identifier issn | 1050-0472 | |
| identifier other | JMDEDB-27607#576_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/112376 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Structure of Robot Compliance | |
| type | Journal Paper | |
| journal volume | 115 | |
| journal issue | 3 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.2919228 | |
| journal fristpage | 576 | |
| journal lastpage | 580 | |
| identifier eissn | 1528-9001 | |
| keywords | Structures AND Robots | |
| tree | Journal of Mechanical Design:;1993:;volume( 115 ):;issue: 003 | |
| contenttype | Fulltext | |
