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| Planar 5 actuator mechanism with elastic elements | Example of output displacement | Example of output stiffness |
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(F5)Simultaneous Control of Out put Displacement and Stiffness with Parallel Mechanisms with Elastic Elements
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Utilizing redundancy and flexibility of redundant parallel mechnisms with elastic elements, both of output displacement and ooutput stiffness are simultaneously controlled.
For an example, a planar parallel link mechanism with 3 linearmotors and 2 rotaty motors and 3 coil springs is theoretically controlled to generate
two-dimensional displacement and stiffness of its output link.
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