Abstract

In the modelling of elastic suspensions between rigid bodies there are three identified points: the centers of elasticity, stiffness, and compliance. Previously, physical properties for the latter two have been unknown. Principal results are: 1) if a compliant axis exists, it must pass through all three centers, and 2) if two compliant axes exist, the three centers coalesce. Additional physical properties that characterize stiffness and the centers are presented. The theory is applied to an RCC device and a dexterous robotic hand.

Volume Subject Area:
23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls
Topics:
Elasticity, Modeling, Robotics, Stiffness, End effectors
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Copyright © 1994 by The American Society of Mechanical Engineers
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