Analysis of a planar 3 degree-of-freedom adjustable compliance mechanism

In this work, a planar three degree-of-freedom parallel mechanism as another type of assembly device which utilizes joint compliances is proposed. In order to generate the desired operational compliance characteristics 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 mechanism is obtained explicitly by symbolic manipulation, and its operational compliance characteristics are examined. It is found that the RCC point exists at the center of the workspace when the mechanism maintains symmetric configurations. Compliance characteristics and its sensitivity of this mechanism are analyzed with respect to the magnitude of the diagonal compliance components and two different matrix norms by measuring compliance sensitivity. It is expected that the analysis results provide the designer with a helpful information to determine a set of optimal parameters of this RCC mechanism.