Design of smart robotic mechanisms

Abstract

Robotic mechanisms that could be denoted as “smart” are discussed in this paper. Smart mechanisms, beside their principal function in the positioning system, exhibit features that improve their performance as to functionality and reliability of the robotic device. For this reason they should integrate functions of positioning mechanics and various sensory devices. The attention in this paper is devoted to compliant mechanisms that contemporary work as multi-component force sensors designed mainly for small and micro robotic devices. The design study and performance analysis of such positioning mechanism - force sensor is presented. The smart behavior is important in cases of precise robotic devices, modular or reconfigurable robotic structures.