Design and DOF analysis of a novel compliant parallel mechanism for large load

Xiaochuan Wu, Yi Lu, Xuechao Duan, Dan Zhang, Wenyao Deng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

12 Citations (Scopus)


The degree of freedom (DOF) and motion characteristics of a kind of compliant spherical joint were analyzed based on the screw theory, and a new design scheme for force-inversion of the compliant spherical joint was proposed in this paper. A novel type of six DOF compliant parallel mechanism (CPM) was designed based on this scheme to provide a large load capacity and achieve micrometer-level positioning accuracy. The compliance matrix of the new type of CPM was obtained through matrix transformation and was then decomposed into its generalized eigenvalues. Then, the DOF of the mechanism was numerically analyzed based on the symbolic formulation. The finite element analysis model of the compliant parallel mechanism was established. The static load analysis was used to verify the large load capacity of the mobile platform. By comparing the deformation obtained by the compliance matrix numerical method with the deformation obtained by the finite element method, the correctness of the compliance matrix and the number of the DOF of the CPM was verified.

Original languageEnglish
Article number828
JournalSensors (Switzerland)
Issue number4
Publication statusPublished - 2 Feb 2019
Externally publishedYes


  • Compliant mechanism
  • Flexural joint
  • Screw theory
  • Symbolic formulation

ASJC Scopus subject areas

  • Analytical Chemistry
  • Biochemistry
  • Atomic and Molecular Physics, and Optics
  • Instrumentation
  • Electrical and Electronic Engineering


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