Analysis on characteristics of antagonistic stiffness of the planar 3 degrees-of-freedom RCC mechanism

평면형 3 자유도 RCC 메카니즘의 상반효과로 인한 강성 특성 분석

In this work, an effective stiffness generated by internal loading for a planar 3 degrees of freedom RCC mechanism is investigated. For this purpose, the internal kinematic analysis and antagonistic stiffness modeling for this mechanism are performed. It is shown that the antagonistic stiffness could be effectively created at the center of the mechanism in its symmetric configuration.