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Recent investigations show that compliant systems can be more safe and energy-efficient than conventional stiff actuated systems. As a result, researchers are increasingly implementing compliance within actuation systems using a variety of mechanisms. In general, these actuators can be grouped in 2 main categories. The first category includes all the actuation systems with a compliant element connected...
This paper presents a new design of two degree-of-freedom (2-DOF) non-symmetric parallel mechanism which can be employed as humanoid arm structure. Unlike conventional multi-DOF parallel mechanism, this design targets to reduce the number of actuators, and thus the total cost. The major feature of this mechanism is that it can move an end-effector in six-dimension (6D) space with only two motors,...
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