ICRA 21 Workshop on parallel robots

Abstract

The manufacturing and assembly of small parallel robots are often complex because of the required tolerances and high part count. The present work considers the use of compliant mechanisms to overcome some of these difficulties. Taking as a reference a recently published two degrees of freedom parallel orientational mechanism, we address several aspects related to the design and manufacturing of this type of small-scale systems. We consider two implementations of this mechanism, one developed following a “traditional” approach with linkages and pin joints, and one developed following a “flexible” approach using flexures. We then compare these two by providing qualitative and quantitative indications of their motion precision and capacity to withstand loads.