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Since precise linear actuators of a compliant parallel manipulator sufferfrom their inability to tolerate the transverse motion/load in the multi-axismotion, actuation isolation should be considered in the compliant manipulatordesign to eliminate the transverse motion at the point of actuation. Thispaper presents an effective design method for constructing compliant parallelmanipulators with actuation isolation, by adding the same number of actuationlegs as the number of the DOF (degree of freedom) of the original mechanism.The method is demonstrated by two design case studies, one of which isquantitatively studied by analytical modelling. The modelling results confirmpossible inherent issues of the proposed structure design method such as increasedprimary stiffness, introduced extra parasitic motions and cross-axis couplingmotions

A structure design method for compliant parallel manipulators with actuation isolation