A compact modified Delta parallel mechanism design based on a stiffness analysis

In our previous work, we developed a compact 6-DOF haptic interface, which contains a modified Delta parallel-link positioning mechanism. This modified Delta mechanism is designed as a compact desktop type and composed of many miniature bearings and small parts. Therefore, the stiffness of the modified Delta mechanism is strongly affected elastic deformations of these components. To design a high stiffness parallel mechanism which is well-balanced for all directions and rotations, we should analyze the stiffness of this parallel mechanism. In our previous paper, we proposed a method to analyze structural stiffness of a parallel mechanism. In this paper, we design a modified Delta mechanism, with a well-balanced stiffness, based on our stiffness analysis method.