Multibody Mechatronic Systems manuscript No.

(will be inserted by the editor)

Synthesis of precision flexible mechanisms using Screw Theory

with a finite elements validation

Martín A. Pucheta · Alejandro G. Gallardo

Received: date / Accepted: date

Abstract The design of flexible parallel stages has recently systematized for the three-
dimensional space using Screw Theory. This methodology was shown to be practical for
precision engineering applications where flexure elements, like beams and blades, are sub-
jected to small displacements and therefore the statics can be represented by using infinites-
imal twists and wrenches. The relationships between the reciprocal twists and wrenches
spaces can be related and manipulated by linear algebra. In this work, an analytical enu-
meration of twists and their associated wrenches for any degree-of-freedom with zero and
infinite pitches is developed. Two synthesis problems are analytically calculated and vali-
dated using finite element analysis.
Keywords Precision mechanisms · Screw Theory · Linear Algebra · Finite Element
Analysis

1 Introduction

Compliant mechanisms can transmit twists and/or wrenches on a point of interest of the
mechanism by means of the deformation of their flexible members. Flexible parallel stages
are used in precise positioning of measurement and scientific instruments, in biomedical
devices, in industrial applications, among others.
Ball [1,8,12,13] identified the parallelism between first-order instantaneous kinematics
(angular and linear velocity combined in the differential Twist) and the static (force and
moment combined in the Wrench). However, in the 90’s of the last century [10, 14], the
screws where identified as isomorphic to elements of the Lie group of three-dimensional

M. A. Pucheta
Centro de Investigación en Informática para la Ingeniería (CIII) and CONICET
Facultad Regional Córdoba - Universidad Tecnológica Nacional,
Maestro M. López esq. Cruz Roja Argentina, X5016ZAA Córdoba, Argentina
Tel.: +123-45-678910
Fax: +54-45-678910
E-mail: mpucheta@frc.utn.edu.ar
A. G. Gallardo
E-mail: agallardo@frc.utn.edu.ar
2 Martín A. Pucheta, Alejandro G. Gallardo

displacements SE(3). The tangent space at the identity element is a vector space that forms
the Lie algebra of the Lie group. By choosing an origin for SE(3) the Lie algebra associated
se(3) is the vector space of all instantaneous velocities whose elements are 6 dimensional
vectors of the form (ω , v ), the velocity screw (differential Twist) composed by the angular
velocity ω and the translation velocity v . In parallel, the Wrench screw has the form (f , M ).
These are reciprocal if the work ratio or power is null

(ω , v ) ◦ (f , M ) = ω · M + f · v = 0 (1)

The synthesis methodologies for designing three-dimensional parallel flexures fall into
four main categories [7]: (i) Rigid-body Replacement, (ii) Freedom, Actuation and Con-
straint Topologies, (iii) Building Blocks, (iv) Topology Optimization. The first category uses
a kinematic and dynamic analysis based on rigid bodies and then, some joints or set of joints
and links are replaced by flexure elements (notches, living hinges, beams). The second cat-
egory known as Freedom, Actuation and Constraint Topologies (FACT) is based on Screw
Theory [5, 6] and linear static analysis. A similar methodology combine several parallel flex-
ures to eliminate parasitic motions [3]. Another approach, also based on Screw Theory, pro-
posed by Su [9,15] combines a library of flexure elements with concentrated (notch hinges,
small length flexure pivots) and distributed flexibility (beams, blades) as possible building
blocks with given degree of constraints. This merges the idea of the first category (Rigid-
body Replacement) and the second one. On the other hand, topology optimization is based
on the iterative removal of material guided by an objective function; the most effective algo-
rithms of this category are based on the topological derivative [11]. As unique disadvantage,
it produces a solution for a unique load path and the shapes are optimal but often complex
to manufacture. Before resorting to these optimal design procedures it is a good practice to
firstly explore more simple solutions based on Screw Theory based on kinematics principles
and static analysis.
In this work, an enumeration of parallel flexures based on Screw Theory is proposed.
Then, a systematic approach to build the flexure stage using only flexure beam elements is
described and introduced. In Sect. 2 the necessary Screw Theory definition used in the work
are introduced. Then,

2 Screw Theory Background

The screw was introduced by Ball [1] as a geometric entity composed by a line (s, s0 )
and an associated real scalar quantity named pitch h, which is a ratio of linear and angular
quantities. The line is expressed in Plücker coordinates, the moment of the line s0 = r × s
is computed using any arbitrary vector r from the origin O to the line so that the vector
components are orthogonal, they satisfy the Klein condition

s · s0 = 0 (2)

and are normalized by the moment magnitude.

The primary or direction vector of the screw is s. The secondary or moment vector of
the screw s0 is the sum of the moment of the vector s0 defining the line axis plus h times
the screw direction. Thus, the moment vector o the screw s0 can be decomposed into two
directions, one parallel to s and equal to hs, and one perpendicular to the screw axis s0 ,
such that s0 = s0 + hs as shown in Fig. 1(a).
Synthesis of precision mechanisms using screw theory 3

z
H T
h s y
W4 W3
x
hs s0 z r
W1 WA
W2
s0
y
O
(a) x (b)
Fig. 1 Screw definition (a) and parallel flexure defined by screws (b)

Given the screw (s, s0 ), the axis has coordinates

(s, s0 − hs) (3)

where the moment of the line is r × s = s0 − hs. Then, the screw can be written as

$ = (s, s0 ) = (s, s0 − hs +hs) = (s, s0 +hs) = (s, r × s + hs) (4)

| {z } |{z}
s0 r ×s

as function of the unit vector s of the screw axis, an arbitrary localization vector of the line
r , and the pitch h.
By applying the condition (2) to the screw axis (3) it is obtained

s · (s0 − hs) = s · s0 − hs · s = 0 (5)

from which the pitch is computed as

s · s0
h= (6)
s·s
where, the pitch is (i) null, h = 0, when the screw coincides with a line vector, (ii) infinite
h → ∞ when s → 0, s0 6= 0 representing a line at infinity with direction s0 , and (iii) finite
and non-null, h = hα when the secondary vector is not orthogonal to the screw axis s ·
s0 6= 0, provided that s · s0 = hs · s. The primary and secondary components of the screw
cannot be simultaneously null. For screws representing displacements, the pitch leads to a
classification of three kind of motions (i) pure rotation $0 = (s, s0 ), (ii) pure translation
$∞ = (0, s0 ), and (iii) combined or general motion, the finite screw $h = (s, s0 ).
The reciprocal product of two screws, $1 = (u, u0 ) and $2 = (v , v 0 ), is defined as

$1 ◦ $2 = (u, u0 ) ◦ (v , v 0 ) = u · v 0 + v · u0 (7)

The two screws are reciprocal if their reciprocal product is null, i.e., $1 ◦ $2 = 0.
In the statics of flexure stages, two elements will be related (i) The infinitesimal dis-
placement screw or Twist    
θ θ
T= = (8)
δ c × θ + pθ
4 Martín A. Pucheta, Alejandro G. Gallardo

where, θ is a vector that collects the rotational displacements, it coincides with the screw
direction and δ is the linear displacement, c is a location vector going from the origin to any
point of the screw axis, and p is the pitch of the screw. (ii) The wrench screw
   
f f
W= = (9)
M r × f + qf
f is a vector in the direction of the screw, M represents the moment around the screw axis,
r is a location vector going from the origin to any point of the screw axis, and q is the
pitch of screw. These screws will be used for designing flexure stages subjected to small
displacements, so that screws are vector spaces and can be manipulated by linear algebra.
In order to operate with the reciprocal product in matrix form, the screws (twists (8) and
wrenches (9)) are written as column vectors. The work obtained by the reciprocal product is
computed by the dot product of the twists times the transpose of the wrench vector, inverted
by blocks using a 6 × 6 exchange matrix
 
O3 I3
Q= (10)
I3 O3
composed of a 3 × 3 block of zeros O3 and a 3 × 3 identity matrix I3 . Then, the matrix form
of the reciprocal product expressing the infinitesimal work of wrenches is
TT ·W
c = T T (QW ) = 0 (11)

2.1 Screw systems and complementary screw spaces

A set of n independent screws can be linearly combined to generate a space named n-screw
system. Following Hopkins, [4] a set of n independent twists generate a freedom space of
rank n. In the three-dimensional space, the constraint space that allows a freedom space
of rank n, has by resorting to linear algebra theorems, a rank of c = 6 − n. The constraint
space is generated by c independent wrenches. The freedom and constraint spaces are each
other complementary. In terms of the reciprocal product, the twist system is reciprocal to
the wrench system and the converse is also true. One of the most relevant contributions by
Hopkins to the systematic design of flexure stages was to introduce the actuation space as
the set of screws that individually excite each independent twist without exciting parasitic
motions.
In matrix form, the screw systems are represented as:
Freedom space:
[T ] = [T1 , T2 , . . . , Tn ]; (12)
generated by n unit basis screws; n = rank([T ]).
Constraint space:
[W ] = [W1 , W2 , . . . , W6−n ] (13)
generated by 6−n basis screws computed as the complement o the freedom space, where
c = rank([W ]) = 6 − n.
Actuation space:
[WA ] = [WA1 , WA2 , . . . , WAn ] (14)
it has the same dimension as the freedom space [T ] and consists of n pure force screws
required to actuate the twist related to each degree of freedom by a desired magnitude
of the associated displacement.
Synthesis of precision mechanisms using screw theory 5

The computation of the reciprocal screw system [W ] from a given screw system [T ] can
be done using a linear algebra based step:
1. Using the transpose [T ]T , compute the null space (its complement) as

[T ⊥ ] = null([T ]T ). (15)

2. Use the exchange operator to determine a basis of unit screws for the constraint space

[W ] = Q[T ⊥ ]. (16)

The reciprocal systems [T ] and [W ] can be computed one from the other. This leads to
two possible design strategies. The synthetic strategy consists in the enumeration (design)
of all possible physical implementations of the wrench system [W ] for a prescribed motion
or screw system [T ]. By physical implementations, the designer can choose between rigid
or flexible mechanisms, and among the flexible ones, they can be parallel, serial, or hybrid
stages. This work is limited to the use of parallel flexures with small displacements for
potential use in precision engineering applications.
The main additional requirement in precision mechanisms is that the constrained mo-
tions, called parasitic motions, must be bounded below a given threshold or tolerance (as it
is shown in the results, their magnitudes have 3 to 5 order less than the magnitude of the
desired motions). The main challenge is not only to design the proper constraints but also to
choose the proper actuation that avoid exciting parasitic motions.

2.2 Linear static and constitutive relationships of flexures

When parallel flexures stages are conceived as a guided rigid body subjected to the reactions
of flexure beams, as shown in Fig. 1(b), a linear constitutive relationship can be assumed be-
tween the resultant of the wrenches and the common twist. The forces and moments exerted
by each individual beam can be added in a global frame of coordinates. The flexure ele-
ments (beams or blades) have one end fixed to the ground and the opposite end attached to
the guided body.
The wrench at the end of the beam has a linear relationship with the twist through a
symmetric Twist/Wrench stiffness matrix, which is the inverse of the compliance matrix

W = KTW T (17)

As usually done for structural analysis and finite element analysis, this equation is estab-
lished for a master element and changed of coordinates from local (attached to the flexure
element) to a global coordinate system.
The change of coordinates for screws corresponds to the adjoint transformation of the
Lie group in SE(3) and consists in multiplying the screw by the 6 × 6 matrix defined as
       
R O3 n1 n2 n3 000 
[Ad] = N = =    (18)
DR R d × n1 d × n 2 d × n3 n1 n2 n3

where, R is a 3 × 3 proper orthogonal matrix of passive rotation, O3 is 3 × 3 matrix of

zeroes, D is the 3 × 3 skew-symmetric matrix associated to the displacement vector d, such
that Dv = d × v for all v ∈ R3 . The transformation matrix can also be build, as shown in the
right-hand side of Eqn. (18), in terms of 4 vectors: a local frame defined by orthogonal unit
vectors {n1 , n2 , n2 } attached to a point of interest (e.g., the end-tip of the flexure) and the
6 Martín A. Pucheta, Alejandro G. Gallardo

location vector d, going from the global origin to the origin of that local frame. For instance,
for a beam with a square cross-section attached to a guided stage in a global position d,
oriented in longitudinal axis n3 with a normal of the lateral face n2 defines a change of
coordinates transformation matrix N (d, n2 × n3 , n2 , n3 ). Then, by using this matrix the
twist and wrench screws transform their coordinates as T 0 = N T and W 0 = N W .
In order to apply the constitutive relationship between screws and wrenches, the vector
components of the wrench are exchanged as W c = QW . Then, the linear relationship be-
tween screws can be expressed through the symmetric stiffness matrix K . For instance, this
relationship for a beam with a square cross-section can be of the form

6EI/L2
 
4EI/L 0 0 0 0
  
 4EI/L 0 −6EI/L2 0 0 
 
c = KT → M  GJ/L 0 0 0 
 θ
W = 3 (19)
f 
 12EI/L 0 0  δ

 12EI/L3 0 
sym. AE/L

where, the Young modulus E and the torsional rigidity modulus G are material properties,
the geometry is defined by the cross-sectional area A, the area moment of inertia about a
traversal axis I, and polar moment of inertia J with respect to the longitudinal beam axis.
The global stiffness is computed in global coordinates. Therefore, the wrench in a master
element has conveniently exchanged their vector components as W c = QWmaster . Then, it is
changed to global coordinates using

W = NW
c = N QWmaster (20)

where, the twist at the master element can be expressed T = N Tmaster , from which

Tmaster = N −1 T (21)

Then, the constitutive relationship can be applied to the master element as Wmaster = KTmaster ,
which is replaced in Eqn. (20) to obtain the same relationship in global coordinates

W = N QK Tmaster = N QKN −1 T = KTW T .

| {z } | {z } (22)
(21) KTW

If several flexible constraints are applied in parallel over a rigid body subjected to a
unique twist T , the wrenches are additive
r r r r
Ni QKi Ni−1 T


W = Σi=1 Wi = Σi=1 (KTWi T ) = (Σi=1 KTWi ) T = Σi=1 (23)
| {z }
KT ΣW

r K r −1
and therefore, the stiffness KT ΣW = Σi=1 TWi = Σ i=1 Ni QKi Ni is additive.

3 Synthesis method

The main goal is that the system must be flexible in the desired motions and strong (working
far from the material failure, e.g. yield tension, using an adequate safety factor) but also the
system must be stiff in the constrained motions. These two objectives are encoded in the way
that the flexure elements are arranged to configure the global stiffness KT ΣW because the
Synthesis of precision mechanisms using screw theory 7

Table 1 Combinations without repetitions of freedom and constraints expressed as systems

DOF case sub-case T W

1 R 1) Rx (θx , 0, 0; 0, 0, 0) ( fx , fy , fz ; 0, My , Mz )
T 2) Tx (0, 0, 0; δx , 0, 0) (0, fy , fz ; Mx , My , Mz )
2 RR 3) Rx · Ry (θx , θy , 0; 0, 0, 0) ( fx , fy , fz ; 0, 0, Mz )
RT 4) Rx · Tx (θx , 0, 0; δx , 0, 0) (0, fy , fz ; 0, My , Mz )
5) Rx · Ty (θx , 0, 0; 0, δy , 0) (0, fy , fz ; Mx , 0, Mz )
TT 6) Tx · Ty (0, 0, 0; δx , δy , 0) (0, 0, fz ; Mx , My , Mz )
3 RRR 7) Rx · Ry · Rz (θx , θy , θz ; 0, 0, 0) ( fx , fy , fz ; 0, 0, 0)
RRT 8) Rx · Ry · Tx (θx , θy , 0; δx , 0, 0) (0, fy , fz ; 0, 0, Mz )
9) Rx · Ry · Tz (θx , θy , 0; 0, 0, δz ) ( fx , fy , 0; 0, 0, Mz )
RTT 10) Rx · Tx · Ty (θx , 0, 0; δx , δy , 0) (0, 0, fz ; 0, My , Mz )
11) Rx · Ty · Tz (θx , 0, 0; 0, δy , δz ) ( fx , 0, 0; 0, My , Mz )
TTT 12) Tx · Ty · Tz (0, 0, 0; δx , δy , δz ) (0, 0, 0; Mx , My , Mz )
4 RRRT 13) Rx · Ry · Rz · Tx (θx , θy , θz ; δx , 0, 0) (0, fy , fz ; 0, 0, 0)
RRTT 14) Rx · Ry · Tx · Ty (θx , θy , 0; δx , δy , 0) (0, 0, fz ; 0, 0, Mz )
15) Rx · Ry · Tx · Tz (θx , θy , 0; δx , 0, δz ) (0, fy , 0; 0, 0, Mz )
RTTT 16) Rx · Tx · Ty · Tz (θx , 0, 0; δx , δy , δz ) (0, 0, 0; 0, My , Mz )
5 RRRTT 17) Rx · Ry · Rz · Tx · Ty (θx , θy , θz ; δx , δy , 0) (0, 0, fz ; 0, 0, 0)

screw systems of the desired motions are related by [WA ] = KT ΣW [Td ] and the constrained
motions [T R ] with rank 6 − n are related by [T R ] = KT−1ΣW [W ]; the magnitude of each twist
in [T R ] subject to the unit wrenches [W ] must tend to zero.
The semi-analytic methodology here proposed starts from the motion requirements
Step 1: Construct the Freedom system of the desired twists [Td ].
Step 2: Identify the normalized twist system [T ].
Step 3: Compute the normalized wrench system [W ] as the complement of the twist system.
Step 4: Select (in all possible forms) the type, number, and geometric arrangement of flex-
ure elements to satisfy the wrench system.
Step 5: Compute the optimal actuation [WA ] = KT ΣW [Td ].
Step 6: Verify the resultant motions using finite element analysis.
This methodology is based on FACT [4] but clearly uses a different order and dispense of
graphical maps. In the following, each step of the methodology is described.

Step 1: The freedoms that a point of interest in the guided rigid-body to nano-, micro-, or
macro manipulate are on of the 3 pure rotation or 3 pure translation screws, respectively,
around and along x, y, z orthogonal Cartesian axes

T (θx ) = θx [1, 0, 0; 0, 0, 0]T ; T (θy ) = θy [0, 1, 0; 0, 0, 0]T ; T (θz ) = θz [0, 0, 1; 0, 0, 0]T

(24)
T (δx ) = δx [0, 0, 0; 1, 0, 0]T ; T (δx ) = δy [0, 0, 0; 0, 1, 0]T ; T (δx ) = δx [0, 0, 0; 0, 0, 1]T

Step 2: The unit or normalized form of the twists can be obtained by factorizing the desired
amplitude for each motion.

Step 3: The complement of the twist system can be constructed and computed off-line. In
Tab. 1 the enumeration for all possible twists composed exclusively by zero and infinite pitch
is shown [8]. In the last column, the reciprocal wrench is computed. Clearly and intuitively,
the resultant wrench have null components in the allowed conjugated components o the
twist, i.e., Mi = 0 if θi is a desired motion and fi = 0 if δi is a desired motion, for i ∈ {x, y, z}
8 Martín A. Pucheta, Alejandro G. Gallardo

(using a 0 − 1 normal form and Boolean algebra, the linear components of the wrenches are
the negation of those of the twist, the same is valid for rotational components).
Step 4: Choose the number, type of flexure elements and arrange them geometrically to
satisfy the wrench system, in all possible forms. This difficult step is not fully automated nor
systematic. Some rules known as Exact constraint [2] can be applied in the case that beam
flexures are used though it is combinatorially more complex if a more comprehensive library
of flexures is considered. By knowing the freedom that constraint a beam and the hypotheses
underlying in the associated stiffness matrix, the constrained translations can be tackled first
by aligning the longitudinal beam axis in the direction of the constrained translation. The
deformation mode must not stretch the neutral fiber of the beam. Then, if a rotation must be
constrained, two coplanar and parallel beams can be connected to the guided rigid-body with
the rotation axis being perpendicular to the beams plane. The motions can be constrained in
sequence.
Step 5: The physical implementation of the actuation system [WA ] can be simplified if
only (push/pull) linear actuators are applied (Hopkins[4] identified 26 actuation systems).
Conveniently, each twist Ti in [Td ] can be associated to one wrench WAi in [WA ] in a uncou-
pled way, such that the location of the actuation plane for each wrench o the form (f · f0 )
can be analytically computed using the formulae rmin = (f × f0 )/(f · f ).
Step 6: The resultant motions of the stage under the loading conditions computed in the
Step 5 is validated using a finite element analysis. The mesh of the structure is refined in
the neighborhood of the attachment of the beam flexures. The geometry of the rigid moving
platform also contain appropriated surfaces to locate the actuation wrenches and datum ge-
ometries to measure the rotation and translation components of the twist. All these elements
are considered as flexible bodies in the finite element simulation.

4 Results

Two problems are solved using the methodology, (i) a benchmark proposed in the Hopkins
thesis [4] consisting in a RRR flexure stage, and (ii) a here proposed test, a RTT flexure
stage. The finite element results were obtained using SolidWorks Simulationr .
RRR test: The desired magnitude for each twist is 1◦ . Three beams of length 8.2 cm
and width w = 0.3 cm are arranged on three orthogonal axes and attached to a distance
of 10.2 cm from the origin coincident with the point to guide in the rigid platform. The
material properties of the beams are E = 68e9 Pa and G = 25e9 Pa. The geometric properties,
{A, I, J}, are computed from w. The opposite end-points are attached to the ground and
forms a triangle. This structure is rotated around the origin such that the ground triangle is
aligned with the x − y plane. The finite element analysis is shown in Fig. 2 and the measured
results are shown in Tab. 2.
RTT test: The desired magnitude for the rotation twist is 0.1◦ and for the two translations
is 0.1 mm. Four beams of length 15 cm and width 0.3 cm are arranged parallel to the x axis
and attached to a square stage with half diagonals of length 7.07107 cm measured from the
origin. Two beams are coplanar and parallel to the xy plane constraining the rotation around
the z axis, and two beams do the same to constrain the rotation the y axis, one beam is
redundant and added to provide a symmetric behavior in displacements. The geometric and
material properties are identical to the beams of the RRR test. The opposite end-points are
attached to the ground and forms a square parallel to the guided platform, and thus avoids
the translation in x direction. The finite element analysis is shown in Fig. 3 and the measured
results are shown in Tab. 3.
Synthesis of precision mechanisms using screw theory 9

(a) (b) (c)

Fig. 2 FEA Static analysis RRR: rotation around (a) x axis, (b) y axis, and (c) z axis

Table 2 Twist component values (linear and angular displacements) obtained for the Rx · Ry · Rz flexure stage.
Desired motions are shown in bold font and the parasitic ones are in regular font.
T1 T2 T3
Rx Ry Rz
θx [◦ ] 1.083 1.55 · 10−4 −1.88 · 10−5
θy [◦ ] 6.4 · 10−5 1.083 −1.11 · 10−4
θz [◦ ] 5.979 · 10−4 5.037 · 10−7 1.085
δx [mm] −3.46 · 10−3 2.83 · 10−3 −1.56 · 10−5
δy [mm] −2.82 · 10−3 −3.459 · 10−3 8.78 · 10−6
δz [mm] 1.64 · 10−5 −5.607 · 10−6 −3.41 · 10−3

(a) (b) (c) (d)

Fig. 3 FEA Static analysis RTT: (a) mesh (b) translation along z axis (results are identical to y axis), (c,d)
rotation around x axis

Table 3 Twist component values (linear and angular displacements) obtained for the Rx · Ty · Tz flexure stage.
Desired motions are shown in bold font and the parasitic ones are in regular font. GASTON FALTA COR-
REGIR TABLA PARA LOS EJES NUEVOS
T1 T2 T3
Rx Ty Tz
θx [◦ ] 0.1027 8.78564 · 10−7 8.78564 · 10−7
θy [◦ ] 5.04 · 10−4 1, 371 · 10−3 1.22168 · 10−7
θz [◦ ] 1.5914 · 10−6 1, 22168 · 10−7 1, 371 · 10−3
δx [mm] −4, 417 · 10−2 3.466 · 10−7 9.719 · 10−7
δy [mm] 2.809 · 10−6 0.1072 3.466 · 10−7
δz [mm] −4, 705 · 10−2 9.719 · 10−7 0.1072

The results are more accurate for the RRR test than for the RTT test. This means that
the constraint of the translations using flexure beams is more effective than for rotations.
In future work, the database of motions and their complementary wrench spaces will be
completed with the enumeration for twists with non-null finite pitches. Then, the design and
control of the flexure stages for a desired workspace will be tackled.
10 Martín A. Pucheta, Alejandro G. Gallardo

5 Conclusions

A new synthetic approach to the design of parallel flexure stages was presented. A method-
ology based on constraining a guided platform with flexure beams arranged in parallel was
introduced. Screw theory and linear algebra were used to enumerate an exhaustive list of
17 twists and their complementary constraint wrenches using exclusively zero and infinite
pitch screws. In the procedure the unique non-systematic step is the arrangement of flexures
to provides a given wrench system, which is based on exact constraint rules. This open-
issue deserves further investigation to make it fully automatic. The analytical results were
validated using finite element analysis.

Acknowledgements The authors acknowledge the financial support from the Universidad Tecnológica Na-
cional (UTN) through project PID-UTN 3935, from the Agencia Nacional de Promoción Científica y Tec-
nológica PICT-2013-2894 and from Consejo Nacional de Investigaciones Científicas y Técnicas, from Ar-
gentina. We gratefully acknowledge the joint work and friendly assistance of Juan A. Bernad from UTN-FRC,
Córdoba, Argentina.

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