Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance

Research output: Contribution to journalJournal articleResearchpeer-review

8 Citations (Scopus)


This paper investigates the stiffness of a compliant planar parallel manipulator. Instead of establishing stiffness matrix directly for planar mechanisms, we adopt the modeling approach for spatial mechanisms, which allows us to derive two decoupled homogeneous matrices, corresponding to the translational and rotational stiffness. This is achieved by resorting to the generalized eigenvalue problem, through which the eigenscrew decomposition is implemented to yield six screw springs. The principal stiffnesses and their directions are then identified from the eigenvalue problem of the two separated submatrices. In addition, the influence of the nonlinear actuation compliance to the manipulator stiffness is
investigated, and the established stiffness model is experimentally verified.
Original languageEnglish
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Pages (from-to)2291-2302
Number of pages12
Publication statusPublished - 2015


  • Planar parallel manipulators
  • actuation compliance
  • eigenscrew decomposition
  • eigenforce
  • stiffness decoupling


Dive into the research topics of 'Stiffness characterization of a 3-PPR planar parallel manipulator with actuation compliance'. Together they form a unique fingerprint.

Cite this