Journal ArticleDOI
Spatial stiffness realization with parallel springs using geometric parameters
Kinkwan Choi,Shilong Jiang,Zexiang Li +2 more
- Vol. 18, Iss: 3, pp 274-284
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TLDR
A new algorithm is developed, which enables the selection of constituent springs based on their positions and directions, and it is shown that an isotropic stiffness matrix, in general, can be split into the sum of two rank-3 stiffness matrices.Abstract:
This paper investigates the synthesis of a spatial stiffness matrix using simple line springs. A new algorithm is developed, which enables the selection of constituent springs based on their positions and directions. The constraining space of the line springs is then investigated. It is shown that an isotropic stiffness matrix, in general, can be split into the sum of two rank-3 stiffness matrices. The three line springs of the first matrix can be selected to pass through any arbitrary points in space, while the three line springs of the second stiffness matrix lie on a quadric surface, which is usually a hyperboloid of one sheet.read more
Citations
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Journal ArticleDOI
Design and Evaluation of 2-DOF Compliant Forceps With Force-Sensing Capability for Minimally Invasive Robot Surgery
Man Bok Hong,Yung-Ho Jo +1 more
TL;DR: A novel concept of two-degree-of-freedom (2-DOF) compliant forceps is suggested for the measure of pulling and grasp forces at the tip of surgical instrument for minimally invasive surgery robot.
Journal ArticleDOI
The Principal Axes Decomposition of Spatial Stiffness Matrices
TL;DR: Using the principal axes decomposition, some physical appreciations, such as the center of stiffness, the wrench-compliant axes, and the correspondence of compliance and stiffness, can be derived to reveal the inherent structure of spatial stiffness in an intuitive manner.
Journal ArticleDOI
Screw System Approach to Physical Realization of Stiffness Matrix With Arbitrary Rank
Man Bok Hong,Yong Je Choi +1 more
TL;DR: In this paper, the stiffness matrix is expressed in terms of the screw coordinates with respect to the basis consisting of its eigenvectors, and the synthesis equation is derived, which allows one to select the positions or directions of the springs from the screw system spanned by the induced wrenches of the given stiffness matrix.
Journal ArticleDOI
Geometric Construction-Based Realization of Spatial Elastic Behaviors in Parallel and Serial Manipulators
TL;DR: Necessary and sufficient conditions for a manipulator (either parallel or serial) to realize a specific elastic behavior are presented and interpreted in terms of the manipulator geometry, and new construction-based synthesis procedures for spatial elastic behaviors are developed.
References
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Book
A Mathematical Introduction to Robotic Manipulation
TL;DR: In this paper, the authors present a detailed overview of the history of multifingered hands and dextrous manipulation, and present a mathematical model for steerable and non-driveable hands.
Journal ArticleDOI
The bounds and realization of spatial stiffnesses achieved with simple springs connected in parallel
TL;DR: It is shown that the 20-dimensional subspace of "realizable" spatial stiffness matrices achieved with parallel simple springs is defined by a linear necessary and sufficient condition on the positive semidefinite stiffness matrix.
Journal ArticleDOI
Admittance matrix design for force-guided assembly
TL;DR: The authors address the design of manipulator admittance for reliable force-guided assembly to design the admittance of the manipulator so that, at all possible bounded part misalignments, the contact forces always lead to error-reducing motions.