Departmental Papers (MEAM)

Document Type

Journal Article

Subject Area


Date of this Version

December 2002


Postprint version. Published in Journal of Mechanical Design, Volume 124, Issue 4, December 2002, pages 676-683.


We describe a novel design for a compliant arm that can be mounted on a mobile robot. Because the arm is compliant, a mobile robot can manipulate or interact with objects that are not precisely positioned in the environment. The main features of the arm are the in-parallel architecture and a novel control scheme that allows us to easily control the Cartesian stiffness or impedance in the plane. Springs are added in series to the limbs of the parallel manipulator. We analyze one limb and the manipulator to determine its performance when either controlling the force applied to an object or controlling its stiffness. Further, we present experimental results that show the performance of the compliant arm.



Date Posted: 11 September 2005

This document has been peer reviewed.