{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,5]],"date-time":"2025-11-05T06:46:41Z","timestamp":1762325201351,"version":"build-2065373602"},"reference-count":26,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2021,12,28]],"date-time":"2021-12-28T00:00:00Z","timestamp":1640649600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100004837","name":"Ministerio de CIencia e Innovaci\u00f3n","doi-asserted-by":"publisher","award":["PID2019-105262RB-I00"],"award-info":[{"award-number":["PID2019-105262RB-I00"]}],"id":[{"id":"10.13039\/501100004837","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Compliant mechanisms are widely used for instrumentation and measuring devices for their precision and high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating the inverse and direct kinematics, the inverse dynamic problem of the manipulator and the dynamics of the actuators and the control. The kinematic problem is solved, assuming a pseudo-rigid model for the deflection in the compliant revolute and spherical joints. The inverse dynamic problem is solved, using the Principle of Energy Equivalence. The mechatronic model allows the prediction of the bandwidth of the manipulator motion in the 3 degrees of freedom for a given control and set of actuators, helping in the design of the optimum solution. A prototype is built and validated, comparing experimental signals with the ones from the model.<\/jats:p>","DOI":"10.3390\/robotics11010004","type":"journal-article","created":{"date-parts":[[2021,12,29]],"date-time":"2021-12-29T02:31:27Z","timestamp":1640745087000},"page":"4","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Mechatronic Model of a Compliant 3PRS Parallel Manipulator"],"prefix":"10.3390","volume":"11","author":[{"given":"Antonio","family":"Ruiz","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV\/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6916-9467","authenticated-orcid":false,"given":"Francisco J.","family":"Campa","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV\/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7145-4833","authenticated-orcid":false,"given":"Oscar","family":"Altuzarra","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV\/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1747-729X","authenticated-orcid":false,"given":"Saioa","family":"Herrero","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV\/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3364-5003","authenticated-orcid":false,"given":"Mikel","family":"Diez","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Faculty of Engineering, University of the Basque Country UPV\/EHU, Plaza Ingeniero Torres Quevedo, 48013 Bilbao, Spain"}]}],"member":"1968","published-online":{"date-parts":[[2021,12,28]]},"reference":[{"key":"ref_1","unstructured":"Howell, L. 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Vol."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/1\/4\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T07:54:59Z","timestamp":1760169299000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/11\/1\/4"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,12,28]]},"references-count":26,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2022,2]]}},"alternative-id":["robotics11010004"],"URL":"https:\/\/doi.org\/10.3390\/robotics11010004","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2021,12,28]]}}}