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The kinematic chain comprised by SLEs (scissor-like elements) has a wide\udrange of motion, which provides a benefit for the mechanism design. A family\udof SLE-Pa (SLE-parallel) legs which consist of two identical SLE limbs are\udproposed in this paper. The mobility and kinematics are discussed for three\udkinds of SLE-Pa legs which are distinguished by the different positions of\udthe middle links in legs. Through assembling these SLE-Pa legs, a novel 2-DOF\udplanar translational mechanism is developed and its work space is studied.\udFor the purpose of adding the recovery function, the elastic elements are\udinstalled for this mechanism. The stiffness synthesis of the mechanism is\udinvestigated for the various elastic elements and their positions. The\udapproximation of the stiffness coefficient is also derived. Further, this\udkind of mechanism is applied for the design of the passive docking device.\udThe docking procedure is simulated by Adams, and the\udprototype of one SLE-Pa leg is presented at the end

A novel 2-DOF planar translational mechanism composed by scissor-like elements