Certified workspace analysis of 3RRR planar parallel flexure mechanism

This paper addresses the problem of certifying the performance of a precision flexure-base mechanism design with respect to the given constraints. Due to the stringent requirements associated with the applications of flexure-based precision mechanisms, it is necessary to be able to evaluate and certify the performance at the design stage, taking into account the possible sources of errors: such as fabrication tolerance and modeling inaccuracies in flexure joints. An interval-based method is proposed to certify whether various constraints are satisfied for all points within a required workspace. This paper presents the interval-based methodology and its implementation on a planar 3RRR parallel flexure-based manipulator.