This paper will present a model for force and motion control appropriate for spatial compliant manipulators that will characterize the elastic nature of these devices. This model will be applicable to a class of such compliant manipulators that combine the characteristics of parallel manipulators with the low cost, small-scale capabilities resulting from a compliant structure design. This model will be applied to a specific compliant three-degree-of-freedom manipulator topology and its use will be demonstrated as a design tool to perform size optimization of the dimensional parameters of the selected compliant manipulator. A general discussion towards future implementation of this model in control of micro positioning manipulators is given. The work is then demonstrated through development and fabrication of several miniature compliant manipulators (MCM) designed for pointing and precision motion control applications.

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