Design and Selection Method of Compliant 3RRR Planar Parallel Mechanism

There are few studies on the design methods for standardizing compliant 3RRR planar parallel mechanisms. The required design cost is relatively high in the face of specific design tasks. This paper proposes a comprehensive design method for compliant planar parallel mechanisms that include specific workspaces, comprehensive performance indexes of parallel mechanisms, design domains, and mechanical properties of compliant hinges to address this problem. The compliant hinge design is integrated from a rigid dimensionless parallel mechanism model. The design of a compliant planar parallel mechanism with a specific workspace and a minimum design domain is completed while ensuring a better overall performance index. Finally, the design results are verified by specific examples and analyzed by simulation, fully meetings the initial design requirements.