Abstract
A new design method for parallel compliant mechanisms based on the singularity analysis of parallel mechanisms is presented in this paper. Here a 3-US parallel mechanism is introduced and its singular configurations are analyzed with Grassmann–Cayley algebra for the design of a compliant mechanism with RRP mobilities. A novel architecture of compliant mechanism, based on a 3-UU parallel mechanism, is presented and finally its stiffness properties are analyzed with a finite element method.Key wordsSingularityparallel mechanismmechanism analysisGrassmann–Cayley algebracompliant mechanismmechanism design
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