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Kota, Sridhar; Joo, Jinyong; Li, Zhe; Rodgers, S.; Sniegowski, J.J.

doi:10.1023/a:1011265810471

Cited by 154 publications

(29 citation statements)

References 8 publications

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“…Issa et al embedded resistive sensing elements made of a conductive silicone elastomer into the connections of a compliant mechanism, and showed that it was possible to detect the presence of the object being held. Due to the simplicity of the structure, compliant mechanisms are also suitable for microgrippers …”

Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Actuationmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…Other commonly used compliant elements such as small-length flexural pivots can be incorporated into the analysis by using the appropriate values for the PRB parameters in Eqs. (11) and (17).…”

Section: Discussionmentioning

confidence: 99%

“…When the deformation under study is limited to instantaneous or small values, the analysis can often be performed using matrix algebra and screw theory [3][4][5][6][7]. However, when large deformation analysis is necessary, the methods used include beam theory [8,9], finite element analysis (FEA) [10,11], and pseudo-rigid-body (PRB) models [12,13].…”

Section: Introductionmentioning

confidence: 99%

A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section

Venkiteswaran

2018

Journal of Mechanical Design

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Rigid-body discretization of continuum elements was developed as a method for simplifying the kinematics of otherwise complex systems. Recent work on pseudo-rigid-body (PRB) models for compliant mechanisms has opened up the possibility of using similar concepts for synthesis and design, while incorporating various types of flexible elements within the same framework. In this paper, an idea for combining initially curved and straight beams within planar compliant mechanisms is developed to create a set of equations that can be used to analyze various designs and topologies. A PRB model with three revolute joints is derived to approximate the behavior of initially curved compliant beams, while treating straight beams as a special case (zero curvature). The optimized model parameter values are tabled for a range of arc angles. The general kinematic and static equations for a single-loop mechanism are shown, with an example to illustrate accuracy for shape and displacement . Finally, this framework is used for the design of a compliant constant force mechanism to illustrate its application, and comparisons with finite element analysis (FEA) are provided for validation.

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“…Flexure-based compliant mechanisms generally refer to mechanical devices gaining some or all of their mobility through elastic deformation of flexible members [1], which by nature possess the benefits of monolithic structure and variable stiffness over their rigid-body counterparts, thereby reducing friction, backlash, wear, no need for lubrication and assembly. Owing to these uniqueness, compliant mechanisms have been widely applied, including constant-force generation [2], multistable switches [3], micro-electro mechanical systems (MEMS) [4], precision positioning stages and grippers [5][6][7], micro/nanomanipulations [8], fast servotools in precision machining [9], servovalves [10], energy harvesting [11], microvibration suppression [12], alignment of optics, robotic actuation [13], and so forth.…”

Section: Introductionmentioning

confidence: 99%

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

Ling

Howell

Cao

et al. 2020

Applied Mechanics Reviews

162

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Flexure-based compliant mechanisms are becoming increasingly promising in precision engineering, robotics, and other applications due to the excellent advantages of no friction, no backlash, no wear, and minimal requirement of assembly. Because compliant mechanisms have inherent coupling of kinematic-mechanical behaviors with large deflections and/or complex serial-parallel configurations, the kinetostatic and dynamic analyses are challenging in comparison to their rigid-body counterparts. To address these challenges, a variety of techniques have been reported in a growing stream of publications. This paper surveys and compares the conceptual ideas, key advances, and applicable scopes, and open problems of the state-of-the-art kinetostatic and dynamic modeling methods for compliant mechanisms in terms of small and large deflections. Future challenges are discussed and new opportunities for extended study are highlighted as well. The presented review provides a guide on how to select suitable modeling approaches for those engaged in the field of compliant mechanisms.

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Untitled

Cited by 154 publications

References 8 publications

Soft Robotic Grippers

Soft Robotic Grippers

A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section

Kinetostatic and Dynamic Modeling of Flexure-Based Compliant Mechanisms: A Survey

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