Analysis of Cartesian Stiffness And Compliance With ... - helix
Analysis of Cartesian Stiffness And Compliance With ... - helix
Analysis of Cartesian Stiffness And Compliance With ... - helix
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Definitions <strong>of</strong> <strong>Stiffness</strong> and <strong>Compliance</strong><br />
^<br />
δq : infinitesimal spatial displacement (twist).<br />
^<br />
dW: infinitesimal spatial force (wrench).<br />
stiffness<br />
^ ^ ^<br />
dW = K δq<br />
6x1 6x6 6x1<br />
compliance<br />
^ ^ ^<br />
dq = C δW<br />
6x1 6x6 6x1<br />
The 3x3 submatrices <strong>of</strong> stiffness and compliance<br />
^<br />
K =<br />
A<br />
B T<br />
B<br />
C<br />
^<br />
C =<br />
D<br />
E<br />
E T<br />
C<br />
15
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