A structure design method for compliant parallel manipulators with actuation isolation

Guangbo Hao*, Xianwen Kong

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

21 Citations (Scopus)
81 Downloads (Pure)


Since precise linear actuators of a compliant parallel manipulator suffer from their inability to tolerate the transverse motion/load in the multi-axis motion, actuation isolation should be considered in the compliant manipulator design to eliminate the transverse motion at the point of actuation. This paper presents an effective design method for constructing compliant parallel manipulators with actuation isolation, by adding the same number of actuation legs as the number of the DOF (degree of freedom) of the original mechanism. The method is demonstrated by two design case studies, one of which is quantitatively studied by analytical modelling. The modelling results confirm possible inherent issues of the proposed structure design method such as increased primary stiffness, introduced extra parasitic motions and cross-axis coupling motions.

Original languageEnglish
Pages (from-to)247-253
Number of pages7
JournalMechanical Sciences
Issue number2
Publication statusPublished - 30 Nov 2016

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Civil and Structural Engineering
  • Mechanics of Materials
  • Mechanical Engineering
  • Fluid Flow and Transfer Processes
  • Industrial and Manufacturing Engineering


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