Abstract
A compliance control approach as applied to parallel manipulators with linear drives is discussed. The desired dynamic manipulator is based on impedance parameters, which can be achieved by adjusting the stiffness and damping of each joint. Impedance parameters can also be changed by an appropriate geometric placement of the linear drive units. A manipulator with two degrees of freedom that includes an anthropomorphic skeleton chain and 3 linear drive units was designed and manufactured. An experiment was carried out on a compliant motion task - fettling of aluminum automobile wheel rims
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