In this chapter, the closed-form compliance equations for Circularly Curved-Beam Flexures are derived. Following a general modeling procedure previously described in the literature, each element of the spatial compliance matrix is analytically computed as a function of both hinge dimensions and employed material. The theoretical model is then validated by comparing analytical data with the results obtained through Finite Element Analysis. Finally, a case study is presented concerning the potential application of these types of flexures in the optimal design of compliant robotic fingers.
Evaluating the spatial compliance of Circularly Curved-Beam Flexures / Rad, Farid Parvari; Berselli, Giovanni; Vertechy, Rocco; Parenti Castelli, Vincenzo. - ELETTRONICO. - 15:(2014), pp. 377-386. (Intervento presentato al convegno 6th International Workshop on Computational Kinematics (CK2013) tenutosi a Barcelona, esp nel 2013) [10.1007/978-94-007-7214-4_42].
Evaluating the spatial compliance of Circularly Curved-Beam Flexures
BERSELLI, GIOVANNI;VERTECHY, ROCCO;PARENTI CASTELLI, VINCENZO
2014
Abstract
In this chapter, the closed-form compliance equations for Circularly Curved-Beam Flexures are derived. Following a general modeling procedure previously described in the literature, each element of the spatial compliance matrix is analytically computed as a function of both hinge dimensions and employed material. The theoretical model is then validated by comparing analytical data with the results obtained through Finite Element Analysis. Finally, a case study is presented concerning the potential application of these types of flexures in the optimal design of compliant robotic fingers.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
