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

[+] Author and Article Information
Ernest D. Fasse

Department of Aerospace and Mechanical Engineering, University of Arizona, Tucson, AZ 85721

Peter C. Breedveld

Department of Electrical Engineering, University of Twente, Enschede, The Netherlands

J. Dyn. Sys., Meas., Control 120(4), 496-500 (Dec 01, 1998) (5 pages) doi:10.1115/1.2801491 History: Received December 10, 1997; Online December 03, 2007


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.

Copyright © 1998 by The American Society of Mechanical Engineers
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