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TECHNICAL PAPERS

The Duality in Spatial Stiffness and Compliance as Realized in Parallel and Serial Elastic Mechanisms

[+] Author and Article Information
Shuguang Huang, Joseph M. Schimmels

Department of Mechanical and Industrial Engineering, Marquette University, Milwaukee, WI 53201-1881

J. Dyn. Sys., Meas., Control 124(1), 76-84 (Jan 21, 2000) (9 pages) doi:10.1115/1.1434273 History: Received January 21, 2000
Copyright © 2002 by ASME
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References

Figures

Grahic Jump Location
Helical joints loaded with springs. Figure 1(a) illustrates a helical joint loaded with a rotational spring. Figure 1(b) illustrates a helical joint loaded with a translational spring. The pitch of the helical joint is h in length/radian.
Grahic Jump Location
Eigenstructure of an elastic behavior. Figure 2(a) illustrates an interpretation of the spatial elastic behavior with its parallel eigen-mechanism. The body is suspended by 6 screw springs associated with the eigenscrews and eigenstiffnesses of the stiffness matrix. Figure 2(b) illustrates an interpretation of the spatial elastic behavior with the serial eigen-mechanism. The rigid body is suspended by a serial mechanism consisting of 6 elastic helical joints associated with the eigenscrews and eigencompliances of the compliance matrix.

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