Compliant-parallel (C-P) mechanism is parallel mechanism that all joints are composed by deformable springs. In previous studies, since compliant mechanisms have a limited working area due to limitation in their structural deformation, the working area is limited in micrometer/millimeter-scale. From this background, the authors first improved a 1-DOF compliant joint to realize a wider range of working area by optimization of compliant structure, then developed a new 5-DOF parallel mechanism based on the new compliant joints. The new mechanism consists of a double DELTA mechanisms, connected on each end-effector by a newly developed 2-DOF rotational compliant joint. Because the proposed parallel structure conducts translational motions using only 1-DOF compliant joints, the mechanism achieves a wide range of translational working area. The prototype was developed to achieve assembly tasks for handling optical components such as lens and mirror. The evaluation tests reveal that the prototype has high precision within a wide range of working area. The proposed mechanism can be potentially applied to other applications, such as medical, semiconductor or space industries.
