Structure of the spatial stiffness matrix

Jon Selig; X Ding

Structure of the spatial stiffness matrix

Jon Selig
, X Ding

School of Engineering and Design

Research output: Contribution to journal › Article › peer-review

Abstract

In this article we review several approaches to studying the spatial stiffness matrix. These include the principal screws of Ball, Lončarić's normal form, and the compliance axes of Patterson and Lipkin. In addition, we reintroduce the invariants found by von Mises in the 1920s. We attempt to describe the work in a common mathematical framework and to make connections between the different viewpoints.

Original language	English
Pages (from-to)	1 - 16
Journal	International Journal of Robotics and Automation
Publication status	Published - 1 Jan 2002

Cite this

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title = "Structure of the spatial stiffness matrix",

abstract = "In this article we review several approaches to studying the spatial stiffness matrix. These include the principal screws of Ball, Lon{\v c}ari{\'c}'s normal form, and the compliance axes of Patterson and Lipkin. In addition, we reintroduce the invariants found by von Mises in the 1920s. We attempt to describe the work in a common mathematical framework and to make connections between the different viewpoints.",

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Structure of the spatial stiffness matrix

Abstract

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