刚度和柔度矩阵的标准形式

IEEE Journal on Robotics and Automation Pub Date : 1987-12-01 DOI:10.1109/JRA.1987.1087148

J. Loncaric

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引用次数: 185

摘要

广义弹簧将势能与刚体的每个位置和方向联系起来。这种弹簧的刚度可以用一个6 × 6的对称矩阵表示。通过选择特定的坐标系，这个矩阵可以转化为标准形式。类似但独立的结果适用于顺应矩阵。利用李群方法得到的这些结果，也将远刚度中心的概念推广到一般广义弹簧。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Normal forms of stiffness and compliance matrices

A generalized spring associates potential energy with each position and orientation of a rigid body. The stiffness of such a spring can be represented by a 6 × 6 symmetric matrix. This matrix can be brought to a normal form by a particular choice of the coordinate frame. Analogous but independent results hold for compliance matrices. These results, obtained by using a Lie group approach, also extend the concept of the remote center of stiffness to generic generalized springs.

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IEEE Journal on Robotics and Automation

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