Kinematics and workspace analysis of 3 DOF compliant micro parallel robots

The paper presents the kinematics, control and workspace analysis of the 3 DOF compliant micro parallel robots. The paper handle with a class of micro parallel robots where because of the small size the classical joints of kinematic elements are replaced with compliant mechanisms (flexure hinges). One can obtain compact kinematic robots with a high accuracy. By using this type of articulations totally eliminates backlash and friction. Firstly, the kinematics of the micro parallel robots is investigated. Secondly, the workspace of the micro parallel robots is obtained.