A compliant-mechanism-based three degree-of-freedom manipulator for small-scale manipulation

This paper describes the design of a small-scale three degree-of-freedom compliant-mechanismbased manipulator with an approximately 2cm x 2cm x 2cm cubic workspace. The manipulator exhibits a significantly larger range of motion and better spatial structural properties than a conventional compliant mechanism, due primarily to a unique flexure joint developed by the authors. A brief description of the mechanics of the flexure joint is followed by a description of the design of the manipulator. Following the mechanical description, the design of the low-level manipulator controller is discussed. Finally, data is presented that demonstrates manipulator performance.