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Generalized Stability of Compliant Grasps
 in Proceedings of 1998 International Conference on Robotics and Automation
, 1998
"... We develop a geometric framework for the stability analysis of multifingered grasps and propose a measure of grasp stability for arbitrary perturbations and loading conditions. The measure requires a choice of metric on the group of rigid body displacements. We show that although the stability of a ..."
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We develop a geometric framework for the stability analysis of multifingered grasps and propose a measure of grasp stability for arbitrary perturbations and loading conditions. The measure requires a choice of metric on the group of rigid body displacements. We show that although the stability of a grasp itself does not depend on the choice of metric, comparison of the stability of different grasps depends on the metric. Finally, we provide some insight into the choice of metrics for stability analysis. 1
Stiffness Matrix Synthesis Algorithms for Preloaded Planar Structures
"... Abstract — The force regulation and inevitable positional inaccuracy of traditional control system can be compensated by the compliance/stiffness mechanism. The compliance/stiffness of a robotic mechanism is usually modeled by a 6 by 6 symmetric positive definite matrix at an equilibrium point using ..."
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Abstract — The force regulation and inevitable positional inaccuracy of traditional control system can be compensated by the compliance/stiffness mechanism. The compliance/stiffness of a robotic mechanism is usually modeled by a 6 by 6 symmetric positive definite matrix at an equilibrium point using screw theory. When an external wrench is exerted on the mechanism and the mechanism moves away from its equilibrium, the modeled compliance/stiffness matrix becomes nonsymmetric. In this article, the authors derive a nonsymmetric stiffness matrix for a robotic mechanism and manipulate the stiffness matrix into a particularly simple form using matrix algebra. Based on the canonical form of the stiffness matrix, the authors present two novel synthesis procedures for the desired nonsymmetric stiffness matrix of planar structures when the structure is not in equilibrium.
MECHANISM AND ROBOT DESIGN: COMPLIANCE SYNTHESIS AND OPTIMAL FAULT TOLERANT MANIPULATOR DESIGN By
, 2007
"... This Dissertation Open Access is brought to you for free and open access by the The Graduate School at DigiNole Commons. It has been accepted for inclusion in Electronic Theses, Treatises and Dissertations by an authorized administrator of DigiNole Commons. For more information, please contact ..."
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This Dissertation Open Access is brought to you for free and open access by the The Graduate School at DigiNole Commons. It has been accepted for inclusion in Electronic Theses, Treatises and Dissertations by an authorized administrator of DigiNole Commons. For more information, please contact
Original Article
, 2014
"... Jacobianbased stiffness analysis method for parallel manipulators with nonredundant legs Antonius GL Hoevenaars, Patrice Lambert and Just L Herder Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as ..."
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Jacobianbased stiffness analysis method for parallel manipulators with nonredundant legs Antonius GL Hoevenaars, Patrice Lambert and Just L Herder Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the endeffector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the endeffector. This paper presents a Jacobianbased stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with nonredundant legs.
Original Article
, 2014
"... Jacobianbased stiffness analysis method for parallel manipulators with nonredundant legs Antonius GL Hoevenaars, Patrice Lambert and Just L Herder Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as ..."
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Jacobianbased stiffness analysis method for parallel manipulators with nonredundant legs Antonius GL Hoevenaars, Patrice Lambert and Just L Herder Stiffness is an important element in the model of a parallel manipulator. A complete stiffness analysis includes the contributions of joints as well as structural elements. Parallel manipulators potentially include both actuated joints, passive compliant joints, and zero stiffness joints, while a leg may impose constraints on the endeffector in the case of lower mobility parallel manipulators. Additionally, parallel manipulators are often designed to interact with an environment, which means that an external wrench may be applied to the endeffector. This paper presents a Jacobianbased stiffness analysis method, based on screw theory, that effectively considers all above aspects and which also applies to parallel manipulators with nonredundant legs.
Three problems in robotics
, 2002
"... Three rather different problems in robotics are studied using the same technique from screw theory. The rst problem concerns systems of springs. The potential function is differentiated in the direction of an arbitrary screw to nd the equilibrium position. The second problem is almost identical in ..."
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Three rather different problems in robotics are studied using the same technique from screw theory. The rst problem concerns systems of springs. The potential function is differentiated in the direction of an arbitrary screw to nd the equilibrium position. The second problem is almost identical in terms of the computations; the leastsquares solution to the problem of nding the rigid motion undergone by a body given only data about points on the body is sought. In the third problem the Jacobian of a Stewart platform is found. Again, this is achieved by differentiating with respect to a screw. Furthermore, secondorder properties of the rst two problems are studied. The Hessian of second derivatives is computed, and hence the stability properties of the equilibrium positions of the spring system are found.
Modeling of Elastically Coupled Bodies: Part IGeneral Theory and Geometric Potential Function Method
"... This paper looks at spatiogeometric modeling of elastically coupled rigid bodies. Desirable properties of compliance families are defined (sufficient diversity, parsimony, frameindifference, and portindifference). A novel compliance family witii the desired properties is defined using geometric ..."
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This paper looks at spatiogeometric modeling of elastically coupled rigid bodies. Desirable properties of compliance families are defined (sufficient diversity, parsimony, frameindifference, and portindifference). A novel compliance family witii the desired properties is defined using geometric potential energy functions. The configurationdependent wrenches corresponding to these potential functions are derived in a form suitable for automatic computation.