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

Table 5

Detailed conditions and results of verification for case-I of active stiffness decoupling.

Actuating joints	Actuating torques Nm	External forces N	End-effector position m
	, ,	,
Nonredundant; and
Nonredundant; and
Nonredundant; and
Redundant actuation

Distributed joints’ torques .
End-effector’s position means resultant position when the joint torques and external forces of each case are applied to the PKM, simultaneously.