Analysis on RCC characteristics of a planar 3 degrees-of-freedom mechanism with redundant joint compliances

잉여 관절 콤플라이언스를 활용하는 평면형 3자유도 메카니즘의 RCC 특성분석

In this work, we investigate the characteristics of output compliance matrix of a planar 3 degree-of-freedom parallel mechanism when joint compliances are attached to the mechanism redundantly. It is shown by simulation that by attaching redundant joint compliances symmetrically to the mechanism, the translational and rotational compliances can be arbitrarily modulated within some ranges. This property could be effectively used in the control of the compliance characteristics of actively adjustable RCC devices.