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. It 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.
1. Chapter 1: Introduction - p. 1 2. Chapter 2: Design principles and analysis of compliant constant-force mechanisms - p. 11 3. Chapter 3: Large-stroke bistable mechanism for the application in constant-force micropositioning stage - p. 43 4. Chapter 4: Compliant rotary positioning stage with constant output torque - p. 59 5. Chapter 5: New compliant compound constant-force mechanism - p. 75 6. Chapter 6: Flexure-based constant-force XY precision positioning stage - p. 91 7. Chapter 7: A 3-DOF active-type constant-force compliant parallel stage - p. 113 8. Chapter 8: A 2-DOF compound constant-force parallel gripping device - p. 133 9. Chapter 9: A 2-DOF compliant gripper with constant-force flexure mechanism - p. 157 10. Chapter 10: Passive end-effector based on constant-force mechanism for robotic polishing - p. 181 11. Chapter 11: Improved passive polishing end-effector with adjustable constant force and operating angle - p. 201 12. Chapter 12: Compliant constant-force manipulator with sub-Newton force and millimeter stroke - p. 225 13. Chapter 13: Constant-force robotic ultrasound imaging system for biomedical applications - p. 251 14. Index - p. 271
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. It 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.
1. Chapter 1: Introduction - p. 1 2. Chapter 2: Design principles and analysis of compliant constant-force mechanisms - p. 11 3. Chapter 3: Large-stroke bistable mechanism for the application in constant-force micropositioning stage - p. 43 4. Chapter 4: Compliant rotary positioning stage with constant output torque - p. 59 5. Chapter 5: New compliant compound constant-force mechanism - p. 75 6. Chapter 6: Flexure-based constant-force XY precision positioning stage - p. 91 7. Chapter 7: A 3-DOF active-type constant-force compliant parallel stage - p. 113 8. Chapter 8: A 2-DOF compound constant-force parallel gripping device - p. 133 9. Chapter 9: A 2-DOF compliant gripper with constant-force flexure mechanism - p. 157 10. Chapter 10: Passive end-effector based on constant-force mechanism for robotic polishing - p. 181 11. Chapter 11: Improved passive polishing end-effector with adjustable constant force and operating angle - p. 201 12. Chapter 12: Compliant constant-force manipulator with sub-Newton force and millimeter stroke - p. 225 13. Chapter 13: Constant-force robotic ultrasound imaging system for biomedical applications - p. 251 14. Index - p. 271
