Synthesis of Compliant Parallel Mechanisms Using an Improved Beam-Based Method with the Optimization of Multiple Resonant Modes

This paper proposes an improved beam-based method to synthesize a compliant parallel mechanism (CPM) with multiple degrees of freedom (DoFs). The proposed utilizes structural optimization technique three-legged CPM single-beam structure constructed by two perpendicular segments in each leg achieve the desired DoFs and fully decoupled motion. In addition, objective function is optimize primary resonant frequencies actuating directions targeted values dynamic behaviors. A 4-DoF CPM, one translation three rotations, synthesized using all are optimized values. prototype fabricated monolithically evaluated experimentally terms its mechanical characteristics, workspace, modes. obtained results show that experimental stiffness properties agree predictions. particular, has good motion decoupling capability, as reflected high ratios more than 500 between non-actuating directions; large workspaces up 4.0 mm 7.2° for respectively; being close ones. highest deviations predicted 9.49% 9.13% behaviors, respectively, demonstrating correctness effectiveness method.