Compliant manipulators

Abstract

Compliant manipulators are advanced robotic systems articulated by the flexure joints to deliver highly repeatable motion. Using the advantage of elastic deflection, these flexure joints overcome the limitations of conventional bearing-based joints such as dry friction, backlash, and wear and tear. Together with high-resolution positioning actuators and encoders, the compliant manipulators are suitable ideal candidates for micro-/nanoscale positioning tasks. This chapter presents the relevant knowledge of several fundamental topics associated with this advanced technology. After reviewing its evolution and applications, the principal of mechanics is used to explain the limitations of these manipulators. Subsequent topic covers various theoretical modeling approaches that are generally used to predict the deflection stiffness of flexure joints and stiffness characteristics of compliant manipulators. Next, various fundamental design concepts for synthesizing the compliant mechanism will be introduced and several examples are used to demonstrate the effectiveness of these concepts. The topic on actuation, sensing, and control summarizes the types of high-resolution actuators and sensors which the compliant manipulators use to achieve high-precision positioning performance. Performance trade-offs between various actuators and among different sensors are discussed in detail. With this relevant knowledge, this chapter serves as a guide and reference for designing, analyzing, and developing a compliant manipulator.