Constraint-based Design of Parallel Kinematic XY Flexure Mechanisms

  title={Constraint-based Design of Parallel Kinematic XY Flexure Mechanisms},
  author={Shorya Awtar},
This paper presents parallel kinematic XY flexure mechanism designs based on systematic constraint patterns that allow large ranges of motion without causing over-constraint or significant error motions. Key performance characteristics of XY mechanisms such as mobility, cross-axis coupling, parasitic errors, actuator isolation, drive stiffness, lost motion, and geometric sensitivity are discussed. The standard double parallelogram flexure module is used as a constraint building-block and its… CONTINUE READING
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