Analysis and Synthesis of Compliant Parallel Mechanisms—Screw Theory Approach

  • Chen Qiu
  • Jian S. Dai

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 139)

Table of contents

  1. Front Matter
    Pages i-xxiii
  2. Chen Qiu, Jian S. Dai
    Pages 1-15
  3. Chen Qiu, Jian S. Dai
    Pages 17-31
  4. Chen Qiu, Jian S. Dai
    Pages 33-48
  5. Chen Qiu, Jian S. Dai
    Pages 49-64
  6. Chen Qiu, Jian S. Dai
    Pages 65-79
  7. Chen Qiu, Jian S. Dai
    Pages 147-151
  8. Back Matter
    Pages 153-162

About this book


This book addresses the design of compliant mechanisms, presenting readers with a good understanding of both the solid mechanics of flexible elements and their configuration design, based on a mechanism-equivalent approach in the framework of screw theory.

The book begins with the theoretical background of screw theory, and systematically addresses both the compliance characteristics of flexible elements and their configuration design. The book then covers a broad range of compliant parallel mechanism design topics, from stiffness to constraint decomposition, from conceptual design to dimensional design, and from analysis to synthesis, as well as the large deformation problem; this is followed by both simulations and physical experiments, offering readers a solid foundation and useful tools. Given its scope and the results it presents, the book will certainly benefit and inform future research on the topic. It offers a valuable asset for researchers, developers, engineers and graduate students with an interest in compliant mechanisms, robotics and screw theory.


Screw Theory Compliant Mechanisms Compliant Parallel Mechanisms Optimization of Compliant Parallel Mechanisms Compliance Parameterization

Authors and affiliations

  • Chen Qiu
    • 1
  • Jian S. Dai
    • 2
  1. 1.Innovation CentreNanyang Technological UniversitySingaporeSingapore
  2. 2.Department of InformaticsKing's College LondonLondonUK

Bibliographic information