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In this paper, a quantitative comparison is made between straight beam and curved beam flexures for application on selectively compliant mechanisms. Following a general procedure previously described in the literature, the closed-form compliance equations for both flexural hinges are firstly derived. Then, the two morphologies are compared in terms of maximum achievable rotation and selective compliance (i.e. capability of providing low stiffness along a single desired direction). In particular, the performance of each design solution is quantified by means of purposely defined quality indexes, analytically computed on the basis of the hinges compliance matrix. Finally, the potentials of these types of flexures for the optimal design of compliant robotic fingers are critically discussed

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In this paper, the closed-form compliance equations for spherical flexures are derived. 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 relating analytical data with the results obtained through Finite Element Analysis. Finally, for a generic loading condition, spherical flexures are compared to circularly curved-beam hinges in terms of secondary compliance factors and maximum stress.

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