HIGHLIGHTS
SUMMARY
In a redundantly actuated 2-DOF 3RRR parallel kinematic manipulator (PKM) with flexure joints (Fig 1(a)) has been introduced as "best of both worlds" for precision applica- R. Aarts tions. The flexure hinges in compliant manipulators inherently show a reduced support stiffness for large joint angles. The redundant actuation offers a possibility to combine load balancing techniques with preloading of the compliant joints to reduce the actuator efforts needed to keep the end effector (EE) stationary at any position different from the equilibrium position. Mimicking this behaviour with flexure joints is a challenge . . .
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