Mobility analysis of a 3-PUU flexure-based manipulator based on screw theory and compliance matrix method

Shunli Xiao, Yangmin Li, Qiaoling Meng

Research output: Journal article publicationJournal articleAcademic researchpeer-review

14 Citations (Scopus)


This paper presents the mobility analysis of a 3-PUU flexure-based compliant parallel XYZ pure translational positioning stage. A 3-PUU positioning stage is constructed with a symmetric structure by employing three parallel PUU legs, a moving platform, and a fixed platform. Screw theory and compliance matrix method are utilized to analyze the three pure translational degrees of freedom (DOF) mechanism. The procedure is based on the screw theory deducted analytic equations that incorporate both the instaneous mobility at the initial position and the mobility during the whole working space. The kinematical and the dynamical modeling of this system are built by resorting to compliance characteristics analysis based on compliance matrix method. The analytical results also clarify effectively that the 3-PUU parallel positioning stage is with a pure translational mobility. Independent finite element simulation confirms that the motion of the stage is a pure translational positioning stage.
Original languageEnglish
Pages (from-to)1345-1353
Number of pages9
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number8
Publication statusPublished - 1 Aug 2013
Externally publishedYes


  • Compliance matrix method
  • FEA method
  • Parallel micro manipulator
  • Screw theory

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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