Abstract
In closed chain mechanisms, internal forces can be generated and controlled by adding redundant active joints on the links. The internal forces do no work but have effect on the total stiffness of the mechanisms. The stiffness of a closed chain mechanism can be changed by internal forces without changing its inherent stiffness. The effect of the internal forces depends on the magnitude and mode of the internal forces as well as the change in the configuration of the mechanism. In this study, we explain how to achieve the compliance control in certain directions of motion and change the compliance center by properly generating internal forces for the selected configurations of a planar closed chain mechanism with one redundant actuation.
