A Mirror-Symmetrical XY Compliant Parallel Manipulator With Improved Performances Without Increasing the Footprint

Jiaxiang Zhu, Guangbo Hao*, Shiyao Li, Shuwen Yu, Xianwen Kong

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)


The design of XY compliant parallel manipulators (CPMs) remains challenging considering the tradeoff between the mirror-symmetry for better constrained undesired rotations and the small footprint, although a significant number of XY CPMs have been reported in extensive applications. This paper presents a new XY CPM using mirror-symmetry without increasing its footprint, mainly aiming to reduce the undesired parasitic rotations of input and output motion stages. The concept of higher degree of stiffness centre symmetry is deployed to tackle the parasitic rotations, leading to a multi-layer compact XY CPM design with each layer being a rotation-symmetrical design. A nonlinear and analytical model of the proposed XY CPM is derived using free body diagrams and the Beam Constrained Model (BCM) to accurately analyse its performance characteristics over a large range of motion. The designed XY CPM is then verified by the nonlinear finite element analysis (FEA) method. Finally, the proposed multi-layer design is comprehensively compared with the well-received single-layer rotation-symmetrical design. It is shown in the new design that the parasitic rotations of input and output stages along with the actuator isolation are significantly reduced and that the out-of-plane-stiffness is also significantly increased.

Original languageEnglish
Title of host publication45th Mechanisms and Robotics Conference (MR)
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791885444
Publication statusPublished - 17 Nov 2021
Event45th Mechanisms and Robotics Conference 2021 - Virtual, Online
Duration: 17 Aug 202119 Aug 2021


Conference45th Mechanisms and Robotics Conference 2021
Abbreviated titleMR 2021
CityVirtual, Online


  • Compliant mechanisms
  • Large range of motion
  • Nonlinear model
  • Reduced stage yaw
  • Stiffness centre symmetry
  • XY CPM

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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