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Compliant Serial 3R Chain with Spherical Flexures

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Advances in Robot Kinematics 2016

Part of the book series: Springer Proceedings in Advanced Robotics ((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.

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Author information

Authors and Affiliations

  1. Department of Industrial Engineering, University of Bologna, Bologna, Italy

    Farid Parvari Rad, Rocco Vertechy & Vincenzo Parenti-Castelli

  2. Department of Mechanical, Energy, Management and Transportation Engineering, University of Genova, Genova, Italy

    Giovanni Berselli

Authors
  1. Farid Parvari Rad
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  2. Rocco Vertechy
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  3. Giovanni Berselli
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  4. Vincenzo Parenti-Castelli
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Corresponding author

Correspondence to Farid Parvari Rad .

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Editors and Affiliations

  1. Jožef Stefan Institute , Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. INRIA Sophia Antipolis , Sophia Antipolis Cedex, France

    Jean-Pierre Merlet

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Parvari Rad, F., Vertechy, R., Berselli, G., Parenti-Castelli, V. (2018). Compliant Serial 3R Chain with Spherical Flexures. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_2

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  • DOI: https://doi.org/10.1007/978-3-319-56802-7_2

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