抄録
This paper describes analysis and synthesis of flexible link mechanisms of a single spring beam which can be manufactured by NC coiling machines. Smooth Curvature Model (SCM) with 3rd order Legendre polynomial curvature functions is applied to calculate large deformation of a curved cantilever beam by taking account of the balance between external forces and internal elastic forces. SCM is then extended to analyze large deformation of a closed-loop curved elastic beam which is composed of multiple curved beams. The sets of coefficients of Legendre polynomials are optimized to design closed-loop flexible link mechanisms which can generate specified output motion due to input force. For example a planar gripper with a single pulling input force is designed and experimentally examined.
