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

Table 4

Simulation results of the passive stiffness decoupling.

Kinds of actuation and cases	Elements of stiffness matrices N/m
		,
Nonredundant; and actuation
Case-1; Case-2	7.2688; 7.2688	−4.0493; 8.0986	9.0231; 9.0231
Nonredundant; and actuation
Case-1; Case-2	2.8354; 7.2688	1.4985; −8.0986	14.4458; 9.0231
Nonredundant; and actuation
Case-1; Case-2	8.5063; 4.0730	16.6434; 14.0925	43.3375; 48.7602
Redundant actuation
Case-1; Case-2	18.6106	14.0925	66.8065