(F5)Simultaneous Control of Out put Displacement and Stiffness with Parallel Mechanisms with Elastic Elements

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.
Fig.1   Fig.2   Fig.3
Planar 5 actuator mechanism with elastic elements Example of output displacement Example of output stiffness

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