Abstract
To realize the isomorphism of the three-degree-of-freedom (DOF) rotational motion characteristics between the compliant mechanism and the parallel prototype manipulator, a method of constructing the isomorphic mapping Jacobian matrix with micro/nano scale is proposed in this paper. Based on 3-UPC type of spatial parallel manipulator with three rotational DOF, the differential equivalent method is used to simplify and construct the isomorphic Jacobian matrix. The simulation results show that this type of isomorphic mapping Jacobian matrix of parallel prototype manipulator has the similarity motion characteristics which can be used to analyse the topological structure of compliant mechansims.
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