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The inverse kinematic model is an essential mathematical tool of the performance analysis and motion control for the parallel mechanism. A diversity of mathematical methods is used for inverse kinematic modelling. However, the direction of the causative force in the model is disregarded, which leads to large deviation due to the force sensitivity of the flexure hinge. This paper presents an approach of the inverse kinematic model for a 3-PRS compliant parallel mechanism with forward causative force that is coincided with the forward kinematic model situation. Compliant matrix method is adopted to analyze the deformation of the flexure hinge. The prismatic joint is substituted by a flexure element with infinite flexibility to construct a close-loop kinematic chain. Compared with the traditional inverse kinematic model, the proposed one has a lesser deviation in comparison with the forward kinematics model. The finite element analysis model of the 3-PRS mechanism is developed. The simulation results validate the effectiveness of the proposed methodology that can be employed and extended to a variety of compliant parallel mechanism.

An Inverse kinematic model for the 3-PRS compliant parallel mechanism with forward causative force