Design and control of a compliant parallel manipulator

Thomas Sugar, Vijay Kumar

Research output: Contribution to journalArticlepeer-review

21 Scopus citations


We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartersian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.

Original languageEnglish (US)
Pages (from-to)676-683
Number of pages8
JournalJournal of Mechanical Design
Issue number4
StatePublished - Dec 2002

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design


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