Some Quality Measures in Designing Compliant Mechanisms for Robotic Devices

Abstract

This paper deals with design problems of mechanically compliant mechanisms for robotic devices, as multi-component force and displacement sensors, or fast moving positioning devices. It presents a systematic view to quantifying the quality of design via criteria that should be taken into account. The problems of reachable sensitivity and accuracy in static and dynamic modes are analyzed. When designing any compliant structures the modeling and simulation techniques play most important role in evaluation of expected performance characteristics. The design criteria related to requirements are discussed in more details and two illustrative examples of compliant devices with different requirements are given.