A New Decoupling Method for Explicit Stiffness Analysis of Kinematically Redundant Planar Parallel Kinematic Mechanism

Table 3

Simulation results of the active stiffness decoupling.

Kinds of actuation and cases	Elements of stiffness matrices N/m
		,
Nonredundant; and actuation
Case-1; Case-2	−34.7261; −41.2902	6.6080; −19.3766	−149.5999; −177.8776
Nonredundant; and actuation
Case-1; Case-2	2.3697; −32.5381	11.1586; 15.2695	−1.2604; −140.1739
Nonredundant; and actuation
Case-1; Case-2	0.5451; 42.0169	7.4912; 29.3649	−32.0588; 135.1325
Redundant actuation
Case-1; Case-2	−31.8114	25.2578	−182.9190