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Cartesian stiffness matrix of . . .
, 2011
"... The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the desired matrix either in analytical or numerical form. Advantages ..."
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The paper focuses on stiffness matrix computation for manipulators with passive joints. It proposes both explicit analytical expressions and an efficient recursive procedure that are applicable in general case and allow obtaining the desired matrix either in analytical or numerical form
Affine Connections for the Cartesian Stiffness Matrix
 In IEEE Int. Conf. Robotics and Automation
, 1997
"... In this paper, we study the 6 \Theta 6 Cartesian stiffness matrix. We show that the stiffness of a rigid body subjected to conservative forces and moments is described by a (0; 2) tensor which is the Hessian of the potential function. The key observation of the paper is that since the Hessian depend ..."
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Cited by 8 (1 self)
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In this paper, we study the 6 \Theta 6 Cartesian stiffness matrix. We show that the stiffness of a rigid body subjected to conservative forces and moments is described by a (0; 2) tensor which is the Hessian of the potential function. The key observation of the paper is that since the Hessian
T Tangent Stiffness Matrix
"... The propagation of axial waves in nonlinear elastic rods is studied using three different Galerkin Finite Element schemes. The nonlinearity is introduced using the Murnaghan strain energy function and the equations governing the dynamics of the rod are derived assuming linear kinematics. A nonlinear ..."
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The propagation of axial waves in nonlinear elastic rods is studied using three different Galerkin Finite Element schemes. The nonlinearity is introduced using the Murnaghan strain energy function and the equations governing the dynamics of the rod are derived assuming linear kinematics. A nonlinear SemiDiscrete Galerkin Finite Element model with Newmark time integration and NewtonRaphson iteration in the Galerkin spatial approximation, TaylorGalerkin schemes derived using Pade ́ approximations and Generalized Galerkin Finite Element schemes with quadratic time interpolation are developed for the nonlinear wave equation. The propagation of axial waves in fixedfree rods generated by an impulsive external load at the free end is studied using these Finite Element models and their relative advantages and disadvantages are discussed.
CoordinateFree Formulation Of The Cartesian Stiffness Matrix
, 1996
"... . In the paper we study the Cartesian stiffness matrix using methods of differential geometry. We show that the stiffness of a conservative mechanical system is described by a ( 0 2 ) tensor and that components of the Cartesian stiffness matrix are given by evaluating this tensor on a pair of basis ..."
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Cited by 3 (2 self)
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. In the paper we study the Cartesian stiffness matrix using methods of differential geometry. We show that the stiffness of a conservative mechanical system is described by a ( 0 2 ) tensor and that components of the Cartesian stiffness matrix are given by evaluating this tensor on a pair of basis
Exact Corotational Linear FEM Stiffness Matrix
"... This technical report gives the exact corotational linear FEM stiffness matrix for a linear tetrahedral element. The matrix is obtained by computing the higherorder terms (corrections) originating because the element rotation varies with the tet deformation. 1 ..."
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Cited by 4 (1 self)
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This technical report gives the exact corotational linear FEM stiffness matrix for a linear tetrahedral element. The matrix is obtained by computing the higherorder terms (corrections) originating because the element rotation varies with the tet deformation. 1
Measurement of a spinal motion segment stiffness matrix
, 2001
"... The sixdegreesoffreedom elastic behavior of spinal motion segments can be approximated by a stiffness matrix. A method is described to measure this stiffness matrix directly with the motion segment held under physiological conditions of axial preload and in an isotonic fluid bath by measuring the ..."
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The sixdegreesoffreedom elastic behavior of spinal motion segments can be approximated by a stiffness matrix. A method is described to measure this stiffness matrix directly with the motion segment held under physiological conditions of axial preload and in an isotonic fluid bath by measuring
A General Formulation for the Stiffness Matrix of Parallel Mechanisms
"... Starting from the definition of a stiffness matrix, the authors present a new formulation of the Cartesian stiffness matrix of parallel mechanisms. The proposed formulation is more general than any other stiffness matrix found in the literature since it can take into account the stiffness of the pa ..."
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Cited by 2 (0 self)
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Starting from the definition of a stiffness matrix, the authors present a new formulation of the Cartesian stiffness matrix of parallel mechanisms. The proposed formulation is more general than any other stiffness matrix found in the literature since it can take into account the stiffness
Recovering Mesh Geometry from a Stiffness Matrix
"... A problem that has not been studied in the literature is the recovery of the mesh geometry from which a given stiffness matrix originates. In this formulation, this is an illposed, inverse problem, in the sense that there are many partial differential equations (PDEs) whose discretization on differ ..."
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A problem that has not been studied in the literature is the recovery of the mesh geometry from which a given stiffness matrix originates. In this formulation, this is an illposed, inverse problem, in the sense that there are many partial differential equations (PDEs) whose discretization
A Geometric Approach to the Study of the Cartesian Stiffness Matrix
, 2000
"... The stiffness of a rigid body subject to conservative forces and moments is described by a tensor, whose components are best described by a 6 \Theta 6 Cartesian stiffness matrix. We derive an expression that is independent of the parameterization of the motion of the rigid body using methods of diff ..."
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Cited by 2 (0 self)
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The stiffness of a rigid body subject to conservative forces and moments is described by a tensor, whose components are best described by a 6 \Theta 6 Cartesian stiffness matrix. We derive an expression that is independent of the parameterization of the motion of the rigid body using methods
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