Modeling of Elastically Coupled Bodies: Part I—General Theory and Geometric Potential Function Method

Abstract

This paper looks at spatio-geometric modeling of elastically coupled rigid bodies. Desirable properties of compliance families are defined (sufficient diversity, parsimony, frame-indifference, and port-indifference). A novel compliance family with the desired properties is defined using geometric potential energy functions. The configuration-dependent wrenches corresponding to these potential functions are derived in a form suitable for automatic computation.