Modular methodology to design high precision parallel robots and application to a 5-Degree of Freedom flexure-based manipulator

This paper presents a novel modular methodology to design ultra-high precision parallel robots. It chiefly aims at significantly decreasing both the complexity of their synthesis and their development time. This approach can be compared to a robotic Lego®, where a finite number of conceptual building bricks is used to quickly design a robot and easily modify its mobility. The core of this concept consists in an exhaustive conceptual solution catalogue, which is independent from any mechanical design. The first part of this paper thus introduces the theoretical bases of the methodology, as well as its application to ultra-high precision. Then, the second part of the paper is dedicated to the case study of a 5-DOF (Degree of Freedom) robot. Kinematic synthesis, mechanical design of the building bricks and assembly subtleties which have led to the machining of the Legolas 5 prototype are detailed, along with first characterization results. This case study has additionally allowed to generate a new family of ultra-high precision flexure-based parallel robots, which is introduced to conclude this paper.