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This chapter presents an XY compliant parallel manipulator designed for large workspace and minimal motion coupling, achieved through a planar multistage parallelogram mechanismMultistage parallelogram mechanism. The design utilizes a triple-stage parallelogram flexure for motion transmission and decoupling, with fixed and moving ends employing planar and spatial connections, respectively. This configuration enables the construction of diverse multistage parallelogram flexures. The driving stiffness and resonant frequency are derived using theoretical statics and Lagrangian dynamics. Analytical model accuracy is verified via finite element analysis, and performance is compared across three manipulator variants. A prototype was fabricated and tested, demonstrating a workspace of 1.51 cm \(\times \) 1.48 cm and cross-axis coupling ratios below 1.2%. A volume ratio metric is introduced to evaluate compactness against existing designs. The centimeter-scale workspace enhances the suitability of this manipulator for broader industrial applications.

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Design of a Large-Workspace XY Compliant Manipulator with Triple-Stage Parallelogram Flexure

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  • 发表日期：

    2026年

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  • Qingsong Xu

摘要

This chapter presents an XY compliant parallel manipulator designed for large workspace and minimal motion coupling, achieved through a planar multistage parallelogram mechanismMultistage parallelogram mechanism. The design utilizes a triple-stage parallelogram flexure for motion transmission and decoupling, with fixed and moving ends employing planar and spatial connections, respectively. This configuration enables the construction of diverse multistage parallelogram flexures. The driving stiffness and resonant frequency are derived using theoretical statics and Lagrangian dynamics. Analytical model accuracy is verified via finite element analysis, and performance is compared across three manipulator variants. A prototype was fabricated and tested, demonstrating a workspace of 1.51 cm \(\times \) 1.48 cm and cross-axis coupling ratios below 1.2%. A volume ratio metric is introduced to evaluate compactness against existing designs. The centimeter-scale workspace enhances the suitability of this manipulator for broader industrial applications.