Three-legged compliant parallel mechanisms: fundamental design criteria to achieve fully decoupled motion characteristics and a state-of-the-art review

• Main Authors: Pham, Minh Tuan, Yeo, Song Huat, Teo, Tat Joo
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Mechanical engineering; Three-Legged Parallel Mechanism; Compliant Mechanism
• Online Access: https://hdl.handle.net/10356/164839
• Institution: Nanyang Technological University

A three-legged compliant parallel mechanism (3L-CPM) achieves fully decoupled motions when its theoretical 6 × 6 stiffness/compliance matrix is a diagonal matrix, which only contains diagonal components, while all non-diagonal components are zeros. Because the motion decoupling capability of 3L-CPMs...