Description
Flexible Constant-Force Robotic Manipulators: Design and Applications offers a comprehensive survey of recent designs of flexible constant-force robotic manipulators, focusing on their applications in biomedical fields. The book presents innovative design approaches, including flexure mechanisms and bistable beams that enable compliant constant-force and constant-torque motion. Key topics include constant-force gripper designs for biological sample manipulation, polishing end-effectors for robotic manufacturing, and manipulators for ultrasound imaging that maintain consistent contact with the human body. This book defines the roles of these manipulators in biological cell manipulation, part polishing, ultrasound imaging, and healthcare, aiming to improve the quality of life. It is suitable for beginners, providing fundamental principles of compliant mechanism-based flexible robotics, and for advanced audiences, offering in-depth descriptions of state-of-the-art techniques. Readers will gain insights into the current limitations and future directions of robotic technology in precision medical treatment, making it a valuable resource for both newcomers and experienced professionals in the field.- Provides new mechanism designs of flexible constant-force robotic manipulators for precision medical applications- Contains both theoretical and experimental results of constant-force robotic manipulators, along with color figure illustrations- Provide examples that give the reader additional practice in the design, modeling, and implementation of flexible robotic devices in real-life applications
Table of Contents
1. Introduction2. Design principles and analysis of compliant constant-force mechanisms3. Design of a Large-Stroke Bistable Mechanism for the Application in Constant-Force Micropositioning Stage4. Design and Optimization of a New Compliant Rotary Positioning Stage with Constant Output Torque5. Design, Analysis, and Testing of a New Compliant Compound Constant-Force Mechanism6. Design of a flexure-based constant-force XY precision positioning stage7. Design and Development of a New 3-DOF Active-Type Constant-Force Compliant Parallel Stage8. Design and Testing of a Novel 2-DOF Compound Constant-Force Parallel Gripper9. Design and analysis of a 2-DOF compliant gripper with constant-force flexure mechanism10. Design of a New Passive End-Effector Based on Constant-Force Mechanism for Robotic Polishing11. Design of a Novel Passive Polishing End-Effector With Adjustable Constant Force and Wide Operating Angle12. Design and development of a compliant constant-force manipulator with sub-Newton force for biological sample manipulation13. Design and development of constant-force robotic ultrasound imaging system for biomedical applications
