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Compliant Serial 3R Chain with Spherical Flexures

  • Farid Parvari Rad
  • Rocco Vertechy
  • Giovanni Berselli
  • Vincenzo Parenti-Castelli
Chapter
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)

Abstract

A spherical flexure is a special kind of compliant hinge specifically conceived for spherical motion. It features an arc of a circle as centroidal axis and an annulus sector as cross-section, circle and annulus having a common center coinciding to that of the desired spherical motion. This paper investigates a compliant spherical 3R open chain that is obtained by the in-series connection of three identical spherical flexures having coincident centers and mutually orthogonal axes of maximum rotational compliance. The considered spherical chain is intended to be used as a complex flexure for the development of spatial parallel manipulators. The compliance matrix of the proposed chain is first determined via an analytical procedure. Then, the obtained equations are used in a parametric study to assess the influence of spherical flexure geometry on the overall stiffness performances of the considered 3R open chain.

Keywords

Spherical flexures Compliance matrix Spherical mechanisms 

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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Farid Parvari Rad
    • 1
  • Rocco Vertechy
    • 1
  • Giovanni Berselli
    • 2
  • Vincenzo Parenti-Castelli
    • 1
  1. 1.Department of Industrial EngineeringUniversity of BolognaBolognaItaly
  2. 2.Department of Mechanical, Energy, Management and Transportation EngineeringUniversity of GenovaGenovaItaly

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