This paper presents a new method for the realization of a planar compliant behavior with an elastic mechanism. The mechanisms considered are parallel mechanisms with symmetric geometry. We show that any planar stiffness matrix can be realized using a parallel mechanism with four line springs connected symmetrically. Among the four springs, two are identical parallel springs equidistant from the stiffness center, and the other two identical springs intersect at the stiffness center. A synthesis procedure is presented.
Volume Subject Area:
34th Annual Mechanisms and Robotics Conference
This content is only available via PDF.
Copyright © 2010
by ASME
You do not currently have access to this content.