ANALYSIS OF A PLANAR 3-DEGREE-OF-FREEDOM ADJUSTABLE COMPLIANCE MECHANISM

In this work, a planar three degree-of-freedom parallel mechanism as a nother type of assembly device which utilizes joint compliances is pro posed. In order to generate the desired operational compliance charact eristics at RCC point, these joint compliances can be adjusted either by properly replacing the joint compliances or by actively controlling stiffness at joints. The operational compliance matrix for this mecha nism is obtained explicitly by symbolic manipulation, and its operatio nal compliance characteristics are examined. It is found that the RCC point exists at the center of the workspace when the mechanism maintai ns symmetric configurations. Compliance characteristics and its sensit ivity of this mechanism are analyzed with respect to the magnitude of the diagonal compliance components and two different matrix norms by m easuring compliance sensitivity. It is expected that the analysis resu lts provide the designer with a helpful information to determine a set of optimal parameters of this RCC mechanism.