A novel compliant mechanism with RPR degrees of freedom (DOF) is proposed where R and P represent rotation and translation DOFs, respectively. The proposed compliant mechanism is obtained from dimension synthesizing a 2-RPU-UPR rigid parallel mechanism with the method of optimization of motion/force transfer characteristic. R, P and U represent rotation, translation and universal pairs, respectively. Firstly, inverse kinematics and Jacobian matrix are analyzed for the dimensional synthesis. Then, output transmission indexes of branches in the parallel mechanism are given. Dimensional synthesis is completed based on the normalized design parameter. And optimization of flexure joints based on constrained energy is carried out. Afterwards, the novel compliant mechanism is obtained by direct replacing method. Mechanical model of the compliant mechanism including static stiffness and input stiffness is built based on the pseudo-rigid body modeling method and virtual work principle. Finally, FEA simulation by Ansys Workbench is carried out to verify DOF, effectiveness of the dimension synthesis, and compliant model. Optimization of motion/force transfer characteristic is first applied for the design of compliant mechanisms to suppress drift of rotation axis in the paper.
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