Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures

  • Farid Parvari RadEmail author
  • Giovanni Berselli
  • Rocco Vertechy
  • Vincenzo Parenti Castelli
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


In this chapter, the closed-form compliance equations for Circularly Curved-Beam Flexures are derived. Following a general modeling procedure previously described in the literature, 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 comparing analytical data with the results obtained through Finite Element Analysis. Finally, a case study is presented concerning the potential application of these types of flexures in the optimal design of compliant robotic fingers.


Circularly curved-beam flexures Compliance matrix  Robotic fingers Finite element analysis 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Farid Parvari Rad
    • 1
    Email author
  • Giovanni Berselli
    • 2
  • Rocco Vertechy
    • 3
  • Vincenzo Parenti Castelli
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of BolognaBolognaItaly
  2. 2.Department of Mechanical EngineeringUniversity of Modena and Reggio EmiliaReggio EmiliaItaly
  3. 3.Percro LaboratoryScuola Superiore Sant’AnnaPisaItaly

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