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International audienceRésumé : Dans cet article, nous présentons la conception d'un mécanisme de compensation pour un stabili-sateur cardiaque actif, composé de mécanismes compliants plans et d'actionneurs piézoélectriques. L'utilisation de mécanismes compliants plans facilite leur fabrication et favorise la compacité du dis-positif. Recouri a des architecturesparalì eles pour la conception de mécanismes compliants permet généralement de disposer de propriétés de rigidité intéressantes. Cependant, la configuration plane des manipulateursparalì eles est souventsingulì ere. C'est pourquoi deux approches de conception de mécanismes compliants plans sont exploitées dans cet article. Unepremì ere approche consistè a ex-plorer le voisinage de la singularité en introduisant des asymétries lors de la fabrication. Une seconde approche consistè a profiter de la singularité afin d'obtenir des architectures originales de mécanismes. Le dispositif comple a base de mécanismes compliants plans est présenté, et ses performances sont discutées. Abstract : In this paper we present the design of a compact active cardiac stabilizer based on planar compliant mechanisms and piezoelectric actuators. Considering an assembly of planar manufactured structures helps to simplify the manufacturing process and may increase the compactness. Parallel architectures constitute interesting solutions for their intrinsic stiffness properties, but in a planar configuration parallel manipulators often exhibit kinematic singularities. Two design approaches for planar parallel compliant mechanisms are presented in this paper. One design approach consists in designing a passive compliant mechanism in a configuration close to the singularity by introducing some asymmetries during the manufacturing process. The second design approach consists in taking advantage of the singularities of parallel manipulators to obtain non-trivial solutions. The new proposed active stabilizer, composed of planar compliant mechanisms, is introduced and its performances are discussed

Design of a compensation mechanism for an active cardiac stabilizer based on an assembly of planar compliant mechanisms