From characteristic invariants to stiffness matrices

Yanxi Liu, Robin Popplestone

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations


A fitting relationship in an assembly implies that the relative location of the bodies belongs to a coset of the symmetry group of the mating feature pair. When a symmetry group is continuous, there are infinitesimal displacements which will preserve the relationship. Assembly of two bodies normally involves the establishment of successively more constraining relations, many of which are fitting relations. The continuous topological structure of the associated group determines possible directions of assembly at any state in the assembly process. To accommodate to errors, it is necessary to choose a stiffness matrix appropriate to a given assembly state, which will allow the robot to comply with wrenches normal to the possible assembly directions. The derivation of such matrices from a computational geometric representation of the mating feature symmetry group is considered.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Number of pages6
ISBN (Print)0818627204
StatePublished - 1992
EventProceedings of the 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992


OtherProceedings of the 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr

All Science Journal Classification (ASJC) codes

  • Engineering(all)


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