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To fulfill the needs for accurate trajectory tracking with large displacement in a handheld instrument, a 3-DOF serial compliant mechanism is developed. The mechanism is compact with a total length less than 150 mm and a maximum diameter of 22 mm. Two flexures are developed using different rapid prototyping techniques: one 3-DOF flexural lever made of Vero-Gray by Polyjet and a 1-DOF translational...
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