This paper adds to the analytical work done in a companion paper [3]. In that work, the power analysis for a Parallel Force/Velocity Actuator was carried out. In this work, we present a force balance analysis of the same actuator. In so doing, we consider a link driven by a Parallel Force/Velocity Actuator and study the balance of static and inertial forces in this system. The results from this study include design maps for the PFVA including the effects listed above. We also present five specific design examples of the PFVA using commercial off-the-shelf components to illustrate our force balance analysis.

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