Design of a New XY Compliant Parallel Manipulator Based on Deployable Spatial Monolithic Structure

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.