This work introduces a three-dimensional (3D) right circularly corner-filleted flexible hinge composed of four planar segments that are serially connected and located in two planes of the global Cartesian frame. The 3D hinge configuration realizes full load-displacement coupling in terms of the six degrees of freedom (DOF) at its free end, enhancing thus the motion capability, range and versatility. A linear analytical compliance model is developed to describe the load-deformation behavior of this hinge using matrix formulation. Thorough finite element simulation confirms the analytical model results. A comprehensive study is performed based on the analytical model to identify the influence of the hinge geometric parameters on its deformation response. A parallel-connection hinge is also introduced, which consists of three identical 3D Cartesian hinges joined to a rigid link and resulting in a tripod stage. A prototype stage is manufactured and experimentally tested whose results validate the analytical model predictions. Further analysis studies the static regular and parasitic behavior of the stage in terms of its defining geometry.

这项工作介绍了一个三维 (3D) 直角圆角柔性铰链，由四个平面段组成，这些平面段串联连接并位于全局笛卡尔坐标系的两个平面中。3D 铰链配置在其自由端的六个自由度 (DOF) 方面实现了全负载位移耦合，从而增强了运动能力、范围和多功能性。开发了一个线性分析柔量模型来使用矩阵公式来描述该铰链的载荷变形行为。彻底的有限元仿真证实了分析模型的结果。基于分析模型进行综合研究，以确定铰链几何参数对其变形响应的影响。还引入了并联铰链，它由三个相同的 3D 笛卡尔铰链组成，连接到一个刚性链接并形成一个三脚架舞台。制造了原型阶段并进行了实验测试，其结果验证了分析模型的预测。进一步的分析研究了舞台在定义几何方面的静态规则和寄生行为。