Design and analysis of a new 3-DOF compliant parallel positioning platform for nanomanipulation

A novel three degree-of-freedom (3-DOF) translational compliant parallel platform (CFP) has been proposed for nanomanipulation in this paper. The system is developed by a proper selection of hardwares, and analyzed via the established pseudo-rigid-body (PRB) model. In view of the physical constraints, the CPP's workspace range is determined analytically, which illustrates that the CPP possesses a regular like workspace with one isotropic configuration involved. Furthermore, the architecture design of the CPP is carried out to achieve a large usable workspace, and the dexterity performance has been verified. Simulation results show that the compact CPP can perform high dexterous manipulation within the desired workspace.