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

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Line-Vector Decompositions<br />

^<br />

K G =<br />

n<br />

m<br />

k m<br />

t<br />

0 0<br />

0<br />

k t<br />

n<br />

m<br />

t<br />

0<br />

T<br />

^<br />

C G =<br />

0<br />

m<br />

t a m 0 0<br />

w 0 a t m<br />

t<br />

w<br />

T<br />

geometric<br />

constitutive<br />

geometric<br />

Every generator G yields a distinct decomposition.<br />

25

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