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Analysis and Design of Parallel Mechanisms with Flexure Joints



Byoung H. Kang, J Wen, Nicholas Dagalakis, Jason J. Gorman


Flexure joints are frequently used in precision-motion stages and microrobotic mechanisms due to their monolithic construction. The joint compliance, however, can affect the static and dynamic performance of the overall mechanism. In this paper, we consider the analysis and design of general platform-type parallel mechanisms containing flexure joints. Based on static performance measures such as task-space stiffness and manipulability, and constraints such as joint stress, mechanism size, and workspace volume, we pose the design problem as a multiobjective optimization. We first calculate the Pareto frontier, which can then be used to select the desired design parameters based on secondary criteria, such as performance sensitivity and dynamic characteristics. To facilitate design iteration, we apply the pseudo rigid-body approach with a lumped approximation of the flexure joints. A planar mechanism is used to illustrate the analysis and design techniques.
Proceedings Title
Proceedings of IEEE Transactions
Conference Dates
December 1, 2005
Conference Location
Conference Title


Kang, B. , Wen, J. , Dagalakis, N. and Gorman, J. (2005), Analysis and Design of Parallel Mechanisms with Flexure Joints, Proceedings of IEEE Transactions, , USA (Accessed April 13, 2024)
Created November 30, 2005, Updated October 12, 2021