Algorithms for passive compliance mechanism design

In this article the authors study the spatial stiffness of passive compliance mechanisms. The mechanisms under consideration are characterized by the 6 by 6 spatial stiffness matrix. Several algorithms for realizations of spatial stiffness matrices are examined. The stiffness constants of the realization are related to the eigenvalues of the linear force portion of the stiffness matrix. Finally, a new method is presented for determining minimal realizations of an arbitrarily specified stiffness dominated spatial impedance. The resulting mechanism is constructed with a parallel connection of simple passive springs that are purely translational or purely rotational.