Design of compliant micro-stage based on Peaucellier-Lipkin straight-line mechanism

Design of small robotic positioning devices is required for some special tasks in field of robotics. In the case that workspace is smaller as 1mm then only compact compliant devices could be utilized. But in the case that straight-line output motion is required too; the design of such devices is more complicated, because the parasitic deformations must be minimized. As suitable solution is seemed combination of principles straight-line devices and compliant mechanisms in design process. This paper deals with design procedures for device based on compact compliant mechanical structure, where kinematical structure of Peaucellier-Lipkin straight-line mechanism was utilized. Design problems of transformation between straight-line mechanisms and flexure structures are discussed.