Stiffness and Elastic Deformation of 4-DoF Parallel Manipulator with Three Asymmetrical Legs for Supporting Helicopter Rotor

Figure 1

A 2SPS+RRPR PM for supporting helicopter rotor (a), 2SPS+RRPR type PM (b), and a prototype of reconfigurable 3SPS PM (c).

(a)

(b)

(c)