Abstract
In this work, a novel planar compliant tensegrity-like parallel mechanism composed of a set of rods and strings is introduced. The mechanism has low mass and high strength to weight ratio compared with conventional parallel mechanisms. An energy based method is employed to find the analytical solutions to the forward and inverse position analysis. Afterwards, the singular configurations are detailed. The actuator and output workspaces are then mapped. Moreover, an analytical approach based on an energy formulation is used to evaluate the stiffness of the mechanism. Finally the characteristics of the mechanism are reported.
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