Design and Analysis of a Planar 3-DOF Large Range Compliant Mechanism with Leaf-Type Flexure

  • Bao Yang
  • Chi ZhangEmail author
  • Hongtao Yu
  • Miao Yang
  • Guilin Yang
  • Silu Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)


This paper presents a novel 3-degree-of-freedom (DOF) large range compliant parallel mechanism (CPM) with a 3-PPR configuration. Each PPR chain is constituted of two mutually perpendicular prismatic (P) joints and one revolute (R) joint. These joints are composed of leaf-type hinges to realize large motion range with the existence of distributed compliance. Based on the compliant parallelogram mechanism, two kinds of optimized translational joints with high cross-axis stiffness and one precise rotary pivot are proposed. Pseudo-body method is implemented to establish the quantitative kinematic model of the proposed mechanism. Finite element analysis is carried out to validate the correctness of the model and analyze the modal of the CPM. Utilizing the VCMs as the actuators, experimental tests are conducted to reveal the dynamic performance of the CPM with PID controller. The results demonstrate that the proposed platform can realize precise positioning within a large XYθz motion range and possess a high bandwidth about 35 Hz.


Compliant parallel mechanism Large range PID control 



This work is supported by NSFC-Zhejiang Joint Fund for the Integration of Industrialization and Informatization (U1609206), Ningbo Natural Science Foundation (No. 2018A610150) and the Innovation Team of Key Components and Technology for the New Generation Robot under Grant 2016B10016.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Bao Yang
    • 1
    • 2
  • Chi Zhang
    • 1
    Email author
  • Hongtao Yu
    • 1
    • 2
  • Miao Yang
    • 1
  • Guilin Yang
    • 1
  • Silu Chen
    • 1
  1. 1.Key Laboratory of Robotics and Intelligent Manufacturing Equipment TechnologyNingbo Institute of Materials Technology & Engineering, CASNingboChina
  2. 2.University of Chinese Academy of SciencesBeijingChina

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