Analysis of Cartesian Stiffness And Compliance With ... - helix

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Constitutive Character of the Centers of Stiffness and Compliance Σ k r S fi fi = 0 Σk r C γ i γ i = 0 23
Line-Vector EV Problems ^ n C = m wrench a m 0 m parallel rotation ^ t K = w twist t k t 0 parallel force co-eigenwrench at G co-eigentwist at G force G couple at G parallel rotation at G parallel force at G rotation G translation at G • Every point G in space generates a distinct second EV problem. • There exist three co-eigentwists and three co-eigenwrenches for every G. 24
Page 1 and 2: Analysis of Cartesian Stiffness And
Page 3 and 4: Elastically Suspended Rigid Body Mo
Page 5 and 6: Why is Stiffness Important ? high s
Page 7 and 8: • P Screws: Twist v P : linear ve
Page 9 and 10: Screw Axis and Pitch ha h: pitch b
Page 11 and 12: Principal Screws & Center of 3-Syst
Page 13 and 14: Line-Vectors (Zero Pitch Screws) li
Page 15 and 16: Spatial Cross Product Screw space a
Page 17 and 18: Eigenvalue (EV) Problems ❂ Compli
Page 19 and 20: Free-Vector Decompositions K^ = f
Page 21 and 22: Coplanar Perpendicular Vectors f 2
Page 23: Centers of Stiffness And Compliance
Page 27 and 28: Co-Center of Elasticity Symmetric A
Page 29 and 30: Distribution of Co-centers General
Page 31 and 32: Relations Between Centers ^ W fi ^
Page 33 and 34: A New Pair of Special Axes pure for
Page 35 and 36: Stiffness Matrix of Line Springs ^
Page 37 and 38: Unloaded Equilibrium The stiffness
Page 39 and 40: Isotropic Vector Problem Eigenvalue
Page 41 and 42: Synthesis of Stiffness by Springs ^
Page 43 and 44: Remote Center of Compliance (RCC) D
Page 45 and 46: Rotational Symmetry Devices E 3 S 3
Page 47 and 48: An RCC Construction Proposal Genera
Page 49 and 50: Eigenscrew Structure at Center of M
Page 51 and 52: Center of Percussion pure force thr
Page 53 and 54: A Better Design Possibility for Gol
Page 55: Principal Contributions - Applicati

Analysis of Cartesian Stiffness And Compliance With ... - helix

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