The Stiffness Model of the Compliant Positioning Mechanism with Watt’s Linkage

The conversion of the kinematic structures into micro-robotic devices enables to achieve devices with high performance in the small usually monolithic body. One example of a micro-robotic two degree of freedom positioning device that works on the principle of compact compliant mechanisms, and is inspired by Watt’s linkage is presented. However, such devices require a complex design process, where the stiffness model provides the necessary basic element in the evaluation/calculation of the compliant mechanism performance. The stiffness model of the proposed XY micro-positioning device is executed, where the conditions for dimensioning of the flexure hinges and actuators are formulated too. In the conclusion of the paper are compared results from described stiffness model with results from FEM analysis.