Evaluating the Spatial Compliance of Circularly Curved-Beam Flexures

In this chapter, the closed-form compliance equations for Circularly Curved-Beam Flexures are derived. Following a general modeling procedure previously described in the literature, each element of the spatial compliance matrix is analytically computed as a function of both hinge dimensions and employed material. The theoretical model is then validated by comparing analytical data with the results obtained through Finite Element Analysis. Finally, a case study is presented concerning the potential application of these types of flexures in the optimal design of compliant robotic fingers.