Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 16, issue 2
Articles | Volume 16, issue 2
https://doi.org/10.5194/ms-16-757-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-16-757-2025
© Author(s) 2025. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 16, issue 2
Research article
 | 
11 Nov 2025
Research article |  | 11 Nov 2025

Design and analysis of parallel manipulators with 3 translational degrees of freedom used as an anti-balance perturbator, exactly constrained and overconstrained

Jacob P. Meijaard, Winfred Mugge, and Volkert van der Wijk

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Short summary
The design and analysis of a wearable device that can deliver short-duration perturbations on a human limb without external mechanical connections is described. A robotic manipulator with parallel legs that allows only translational motion is proposed for this task. Three designs are compared with respect to their stiffness and sensitivity to clearance in the joints. The addition of an additional leg or additional links improves the performance.
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