Spatial stiffness matrix from simple stretched springs

Jon Selig

doi:10.1109/ROBOT.2000.845218

Spatial stiffness matrix from simple stretched springs

Jon Selig

Research output: Contribution to conference › Paper › peer-review

Abstract

This work looks at the stiffness matrix of some simple but very general systems of springs supporting a rigid body. The stiffness matrix is found by symbolically differentiating the potential function. After a short example attention turns to the general structure of the stiffness matrix and in particular the principal screws introduced by Ball.

Original language	English
Pages	3314 - 3319
DOIs	https://doi.org/10.1109/ROBOT.2000.845218
Publication status	Published - 24 Apr 2000
Externally published	Yes
Event	IEEE International Conference on Robotics & Automation - Duration: 24 Apr 2000 → …

Conference

Conference	IEEE International Conference on Robotics & Automation
Period	24/04/00 → …

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10.1109/ROBOT.2000.845218Licence: CC BY-NC-ND 4.0

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T2 - IEEE International Conference on Robotics & Automation

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Spatial stiffness matrix from simple stretched springs

Abstract

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