Design and analysis of a compact flexure-based precision pure rotation stage without actuator redundancy

Leon Clark, Bijan Shirinzadeh, Yongmin Zhong, Yanling Tian, Dawei Zhang

Research output: Contribution to journalArticleResearchpeer-review

43 Citations (Scopus)


This paper presents the mechanical design, optimisation, and computational and experimental analyses of a flexure-based single degree of freedom rotation stage. The mechanism possesses a rotationally symmetric configuration, whilst only employing a single piezoelectric actuator, which increases the mechanism's ability to reject cross-coupled drift of the rotation centre. This layout is facilitated by a novel multi-level structure, which exploits emerging additive manufacturing techniques for its construction, and is compact, with little unused volume. Computational analysis has been employed for both the optimisation of the mechanism, to increase its workspace whilst maintaining a small physical footprint, and subsequently to predict its performance. The cross-coupled drift, particularly its variation with respect to assembly and manufacturing errors, is explored in depth. A prototype has been manufactured, which fits within a 128mm×153mm×30mm bounding box, and its working range has been experimentally determined to be 2.540mrad, with a first natural frequency of 175.3Hz.

Original languageEnglish
Pages (from-to)129-144
Number of pages16
JournalMechanism and Machine Theory
Publication statusPublished - 1 Nov 2016


  • Additive manufacturing
  • Compliant mechanism design
  • Micro-nano positioning
  • Rotation stage

Cite this