Analysis And Synthesis Of Compliant Parallel Mechanisms―screw Theory Approach (springer Tracts In Advanced Robotics (139))

This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory. The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory. Front Matter ....Pages i-xxiii Introduction (Chen Qiu, Jian S. Dai)....Pages 1-15 An Introduction to Screw Theory (Chen Qiu, Jian S. Dai)....Pages 17-31 Screw Representation of Flexible Elements (Chen Qiu, Jian S. Dai)....Pages 33-48 Construction of Compliant Mechanisms (Chen Qiu, Jian S. Dai)....Pages 49-64 Conceptual Design of Compliant Parallel Mechanisms (Chen Qiu, Jian S. Dai)....Pages 65-79 Stiffness Construction and Decomposition of Compliant Parallel Mechanisms (Chen Qiu, Jian S. Dai)....Pages 81-98 Compliance Parameterization and Optimization of Compliant Parallel Mechanisms (Chen Qiu, Jian S. Dai)....Pages 99-120 Large Deformation Analysis of Compliant Parallel Mechanisms (Chen Qiu, Jian S. Dai)....Pages 121-145 Conclusions and Future Work (Chen Qiu, Jian S. Dai)....Pages 147-151 Back Matter ....Pages 153-162