{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,14]],"date-time":"2026-05-14T11:11:32Z","timestamp":1778757092448,"version":"3.51.4"},"reference-count":22,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2014,3,13]],"date-time":"2014-03-13T00:00:00Z","timestamp":1394668800000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2015,5]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper deals with the design of 3-legged distributed-compliance XYZ compliant parallel manipulators (CPMs) with minimised parasitic rotations, based on the kinematically decoupled 3-<jats:underline>P<\/jats:underline>PPRR (P: prismatic joint, and R: revolute joint) and 3-<jats:underline>P<\/jats:underline>PPR translational parallel mechanisms (TPMs). The designs are firstly proposed using the kinematic substitution approach, with the help of the stiffness center (SC) overlapping based approach. This is done by an appropriate embedded arrangement so that all of the SCs associated with the passive compliant modules overlap at the point where all of the input forces applied at the input stages intersect. Kinematostatic modelling and characteristic analysis are then carried out for the proposed large-range 3-<jats:underline>P<\/jats:underline>PPRR XYZ CPM with overlapping SCs. The results from finite element analysis (FEA) are compared to the characteristics found for the developed analytical models, as are experimental testing results (primary motion) from the prototyped 3-<jats:underline>P<\/jats:underline>PPRR XYZ CPM with overlapping SCs. Finally, issues on large-range motion and dynamics of such designs are discussed, as are possible improvements of the actuated compliant P joint. It is shown that the potential merits of the designs presented here include a) minimised parasitic rotations by only using three identical compliant legs; b) compact configurations and small size due to the use of embedded designs; c) approximately kinematostatically decoupled designs capable of easy controls; and d) monolithic fabrication for each leg using existing planar manufacturing technologies such as electric discharge machining (EDM).<\/jats:p>","DOI":"10.1017\/s0263574714000575","type":"journal-article","created":{"date-parts":[[2014,3,13]],"date-time":"2014-03-13T11:50:28Z","timestamp":1394711428000},"page":"787-806","source":"Crossref","is-referenced-by-count":25,"title":["Design of 3-legged XYZ compliant parallel manipulators with minimised parasitic rotations"],"prefix":"10.1017","volume":"33","author":[{"given":"Guangbo","family":"Hao","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiyang","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,3,13]]},"reference":[{"key":"S0263574714000575_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TASE.2010.2077675"},{"key":"S0263574714000575_ref5","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2010.03.022"},{"key":"S0263574714000575_ref1","volume-title":"Compliant Mechanisms","author":"Howell","year":"2001"},{"key":"S0263574714000575_ref17","unstructured":"\u201cP-611.3 NanoCube\u00ae XYZ Piezo Stage\u201d, Physik Instrumente (PI), Karlsruhe, Germany. http:\/\/www.physikinstrumente.com\/en\/products\/prdetail.php?sortnr=201700 (Accessed on 10 February 2014)."},{"key":"S0263574714000575_ref6","first-page":"615","volume-title":"ASME 2003 International Mechanical Engineering Conference and Exposition","author":"Gorman","year":"2003"},{"key":"S0263574714000575_ref7","doi-asserted-by":"publisher","DOI":"10.1147\/rd.443.0323"},{"key":"S0263574714000575_ref3","doi-asserted-by":"publisher","DOI":"10.1016\/j.ijmachtools.2009.10.012"},{"key":"S0263574714000575_ref8","unstructured":"Martock Design Limited, 1987, Adjustable Mountings, United States Patent, No.:4635887."},{"key":"S0263574714000575_ref9","doi-asserted-by":"publisher","DOI":"10.1115\/1.2735342"},{"key":"S0263574714000575_ref20","article-title":"A 2-legged XY parallel flexure motion stage with minimized parasitic rotation","author":"Hao","journal-title":"Proceedings of the IMechE, Part C: Journal of Mechanical Engineering Science"},{"key":"S0263574714000575_ref4","doi-asserted-by":"publisher","DOI":"10.1016\/j.cirp.2007.05.125"},{"key":"S0263574714000575_ref12","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2009.12.006"},{"key":"S0263574714000575_ref21","doi-asserted-by":"publisher","DOI":"10.1002\/9781118516485"},{"key":"S0263574714000575_ref19","volume-title":"Type Synthesis of Parallel Mechanisms","author":"Kong","year":"2007"},{"key":"S0263574714000575_ref15","doi-asserted-by":"publisher","DOI":"10.1115\/1.4006188"},{"key":"S0263574714000575_ref14","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2011.05.001"},{"key":"S0263574714000575_ref22","volume-title":"Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","author":"Hao","year":"2013"},{"key":"S0263574714000575_ref10","volume-title":"Proceedings of the ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","author":"Awtar","year":"2010"},{"key":"S0263574714000575_ref16","unstructured":"\u201c3-Axis Stages and Flexure Platforms\u201d, Thorlabs Inc, Newton, New Jersey, USA. http:\/\/www.thorlabs.com\/navigation.cfm?guide_id=142 (Accessed on 10 February 2014)."},{"key":"S0263574714000575_ref13","volume-title":"Proceedings of the ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference","author":"Awtar","year":"2011"},{"key":"S0263574714000575_ref18","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2010.12.007"},{"key":"S0263574714000575_ref2","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechatronics.2008.02.007"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574714000575","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,21]],"date-time":"2019-04-21T01:04:17Z","timestamp":1555808657000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574714000575\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014,3,13]]},"references-count":22,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2015,5]]}},"alternative-id":["S0263574714000575"],"URL":"https:\/\/doi.org\/10.1017\/s0263574714000575","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014,3,13]]}}}