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This paper aims to improve the kinematic modeling accuracy of a spatial three-degrees-of-freedom compliant micro-motion parallel mechanism by proposing a modified modeling method based on the structural matrix method (SMM).

This paper analyzes the problem that the torsional compliance equation of the circular notched hinge is no longer applicable because it is subject to bilateral restrained torsion. The torsional compliance equation is modified by introducing the relative length coefficient. The input coupling effect, which is often neglected, is considered in kinematic modeling. The symbolic expression of the input coupling matrix is obtained. Theory, simulation and experimentation are presented to show the validity of the proposed kinematic model.

The results show that the proposed kinematics model can improve the modeling accuracy by comparing the theoretical, finite element method (FEM) and experimental method.

This work provides a feasible scheme for CMPM kinematics modeling. It can be better applied to the optimization design based on the kinematic model in the future.

The COVID-19 pandemic, starting in early 2020, has significantly compromised global commitment to the 2030 Agenda for Sustainable Development Goals, notably affecting areas like food security (SDG 2) and the economy (SDG 8). Informal economy platform employees have been among the most impacted. In India alone, 7.7 million workers in the informal economy have suffered, with nearly 90% of unskilled and semi-skilled workers experiencing income loss. The widespread income loss among a significant portion of the workforce has led to disruptions in demand and supply mechanisms, thereby worsening food insecurity. This study investigates the determinants of the food consumption score (FCS) to serve as an indicator of food security within informal-economy households. A longitudinal survey of 2,830 unskilled and semi-skilled employees, including drivers, domestic workers, delivery personnel, beauticians, street vendors, small business owners, and self-employed individuals, was conducted. The findings show a significant shift towards borderline household FCS during the pandemic, with a sharp decline in daily consumption of dairy products and non-vegetarian items, indicating reduced protein intake. Consuming two or fewer meals per day increases the likelihood of poor FCS, highlighting the need for systematic interventions to ensure three regular meals per day. Moreover, insufficient government support for adequate food intake in informal economy households calls for redesigned assistance programs. Policymakers should prioritize practical solutions, such as community-based food distribution centers and mobile food vans, to ensure the delivery of nutritious food to vulnerable populations in Bangalore.