Asymmetric Stiffness: Parallel Torsional Springs

F

O

F’

P’

A1

Ai

An

B’i

B’n

B’1

si

li , ki ,

qi

cylindrical

joint

torsional

spring

Hook’s joint

Model:

• Stiffness matrix is determined in closed form.

• Skew-symmetric part is not a simple function of the applied wrench.

• Symmetry theorem does not apply.

• If all springs are unextended then

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