Key points are not available for this paper at this time.
This article presents the design of a new XY compliant parallel manipulator, which features a deployable spatial configuration and monolithic structure. Inspired by the deployable mechanism, the manipulator is devised based on a four-prismatic–prismatic parallel mechanism by considering the manufacturability and functionality of the monolithic structure. Analytical models are established based on the compliance matrix method, pseudorigid-body model, and Lagrangian equations to calculate the driving stiffness and resonant frequency. After determining the structural parameters, a finite-element analysis simulation study has been conducted to verify the derived analytical models and to compare the performances of XY stages with planar and spatial configurations. Moreover, a prototype of the XY manipulator is fabricated, and experimental tests are performed to assess its open-loop and closed-loop performances. The results reveal that the developed monolithic XY manipulator has relatively balanced performances of planar size, working stroke, area ratio, parasitic coupling, and static vertical loading.
Lyu et al. (Thu,) studied this question.