Dynamic analysis of a hybrid compliant mechanism with flexible central chain and cantilever beam

•Ahybrid compliant mechanism with flexible central chain and cantilever beam is proposed.•Full dynamic modeland reduced-order modelarederived considering the flexibility of links, central chain and cantilever beam.•With the derived relationship between moving platformand kinematic chains,the forward kinematic solution of parallel kinematic chains can be obtained directly.•Simulation and experimental resultsare presented to verify the accuracyof the proposed models.