Abstract: Compliant mechanisms achieve motion utilizing deformation of elastic members. However, analysis of compliant mechanisms for large deflections remains a significant challenge. In this paper, a threespring revolute–prism ...

Abstract: Compliant members come in a variety of shapes and sizes. While thin beam flexures are commonly used in this field, they can be replaced by soft members with lower aspect ratio. This paper looks to study the behavior of ...

Abstract: Rigid-body discretization of continuum elements was developed as a method for simplifying the kinematics of otherwise complex systems. Recent work on pseudo-rigid-body (PRB) models for compliant mechanisms has opened up ...

Abstract: This paper seeks to speed up the topology optimization using a pseudorigid-body (PRB) model, which allows the kinetostatic equations to be explicitly represented in the form of nonlinear algebraic equations. PRB models can ...

Abstract: Continuum robots have the potential to form an effective interface between the patient and surgeon in minimally invasive procedures. Magnetic actuation has the potential for accurate catheter steering, reducing tissue ...