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IN: Proceedings of the IEEE International Conference on Robotics and Automation An Eigenscrew Analysis of Mechanism Compliance
 

Summary: IN: Proceedings of the IEEE International Conference on Robotics and Automation
An Eigenscrew Analysis of Mechanism Compliance
P. L. McAllister R. E. Ellis
Department of Mechanical Engineering Department of Computing and Information Science,
Queen's University Department of Mechanical Engineering
Kingston, ON K7L 3N6 Queen's University
Kingston, ON K7L 3N6
Abstract
Determination of the magnitudes and directions of the con-
straints of a mechanical system can be achieved by find-
ing the basis of the system's characteristic compliance ma-
trix. When little is known about the geometry of the sys-
tem, conventional methods cannot be used to calculate the
system's compliance matrix. A new method has been de-
veloped that uses experimental data to calculate a passive
system's compliance matrix, and an eigenvalue decomposi-
tion to extract the directions and magnitudes of the system
constraints. The data were wrenches applied to the system
and the mechanism's resulting displacement from equilib-
rium.

  

Source: Abolmaesumi, Purang - School of Computing, Queen's University (Kingston)

 

Collections: Computer Technologies and Information Sciences