An elastokinematic solution to the inverse kinematics of microhexapod manipulator with flexure joints of varying rotation center

• We developed inverse elastokinematics model for microhexapods with flexure joints.
• Screw theory was employed to develop the model.
• Elasticity of flexure joint and variation of its center were taken into account.
• Several cases were studied to illustrate the application of the developed theory.
• FEM was also employed to simulate and evaluate the results.

In parallel manipulators with flexural joints, the position of the joint's rotation center continuously changes with the variation of the end effector's pose. The change occurring in the joints' rotation center is commonly ignored in the available solutions, which can lead to considerable error. In order to overcome this shortcoming, a new method has been developed by the present authors on the basis of elastokinematic analysis in which the elastic deformation of the flexure joints is taken into account for the kinematic analysis. The results have been verified by several cases of the moving platform's displacement and by finite element method.