Realization of a Planar Stiffness With a Simple Symmetric Parallel Mechanism
American Society of Mechanical Engineers
ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
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.