Technical report on the design of extension springs for the 2-RRS-1-RRRR mechanism

This report investigates two strategies for the design of extension springs suitable for various proportions of a two-degrees-of-freedom (dof), 2-RRS-1-RRRR cable-actuated mechanism. The design strategies seek feasible designs for extension springs conforming to geometrical constraints on free length and outer coil diameter, as well as strength-based constraints defined by factors of safety at critical locations in the coil and hooks.