A Decoupled 6-DOF Compliant Parallel Mechanism with Optimized Dynamic Characteristics Using Cellular Structure

This paper presents a novel six degrees-of-freedom (DOF) compliant parallel mechanism (CPM) with decoupled output motions, large workspace of ≥6 mm for translations and ≥12° rotations, optimized stiffness, dynamic properties. The working range the motion decoupling capability six-DOF CPM are experimentally verified, mechanical properties shown to be predictable. proposed is synthesized by applying beam-based structural optimization method together criteria achieving capability. In order improve behaviors CPM, cellular structure used design its end effector. obtained results show that performance effector significantly enhanced increase 33% first resonance frequency as compared initial design. Performances three-dimensional (3D)-printed prototype evaluated in terms characteristics motions. actual stiffness agree predictions highest deviation ~10.5%. also demonstrated since almost input energy (>99.5%) generates desired motions while causes parasitic only minor (<0.5%).