Optimization in designing compliant robotic micro-devices

摘要

This paper deals with design procedures for devices based on compact compliant mechanical structures. Compliant mechanisms represent relatively a broad class of electro-mechanical systems where output motions / displacements are reached by elastic deformation of their flexural parts / segments. They are used especially for building robotic micro-positioning devices, effectors, sensors and actuators. Design problems of compliant mechanisms for particular devices are discussed. Application of an optimization procedure in design of the compliant joint is shown as example.