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Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom

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Advances in Robot Kinematics

Abstract

This chapter introduces and investigates a fully compliant spherical chain that is obtained by the in-series connection of two identical primitive spherical flexures with coincident center of spherical motion. The compliance matrix of the proposed chain is obtained via an analytical procedure and validated via finite element analysis. Comparison with an equivalent fully compliant chain employing straight beam hinges is also provided to highlight the added benefits when using primitive spherical flexures.

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Author information

Authors and Affiliations

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

    Farid Parvari Rad & Vincenzo Parenti-Castelli

  2. Department of Mechanical Engineering, University of Modena and Reggio Emilia, Modena and Reggio Emilia, Italy

    Giovanni Berselli

  3. Percro Lab., Scuola Superiore Sant’Anna, Pisa, Italy

    Rocco Vertechy

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

Correspondence to Farid Parvari Rad .

Editor information

Editors and Affiliations

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

    Jadran Lenarčič

  2. Department of Computer Science Artificial Intelligence Laboratory, Stanford University, Stanford, California, USA

    Oussama Khatib

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Parvari Rad, F., Berselli, G., Vertechy, R., Parenti-Castelli, V. (2014). Stiffness Analysis of a Fully Compliant Spherical Chain with Two Degrees of Freedom. In: Lenarčič, J., Khatib, O. (eds) Advances in Robot Kinematics. Springer, Cham. https://doi.org/10.1007/978-3-319-06698-1_29

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  • DOI: https://doi.org/10.1007/978-3-319-06698-1_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-06697-4

  • Online ISBN: 978-3-319-06698-1

  • eBook Packages: EngineeringEngineering (R0)

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