Flexible Constant-Force Robotic Manipulators: Design and Applications offers a comprehensive survey of recent designs of flexible constant-force robotic manipulators, focusing on their applications in biomedical fields. The book presents innovative design approaches, including flexure mechanisms and bistable beams that enable compliant constant-force and constant-torque motion. Key topics include constant-force gripper designs for biological sample manipulation, polishing end-effectors for robotic manufacturing, and manipulators for ultrasound imaging that maintain consistent contact with the human body. This book defines the roles of these manipulators in biological cell manipulation, part polishing, ultrasound imaging, and healthcare, aiming to improve the quality of life.
It is suitable for beginners, providing fundamental principles of compliant mechanism-based flexible robotics, and for advanced audiences, offering in-depth descriptions of state-of-the-art techniques. Readers will gain insights into the current limitations and future directions of robotic technology in precision medical treatment, making it a valuable resource for both newcomers and experienced professionals in the field.
1. Introduction
2. Design principles and analysis of compliant constant-force mechanisms
3. Design of a Large-Stroke Bistable Mechanism for the Application in
Constant-Force Micropositioning Stage
4. Design and Optimization of a New Compliant Rotary Positioning Stage with
Constant Output Torque
5. Design, Analysis, and Testing of a New Compliant Compound Constant-Force
Mechanism
6. Design of a flexure-based constant-force XY precision positioning stage
7. Design and Development of a New 3-DOF Active-Type Constant-Force Compliant
Parallel Stage
8. Design and Testing of a Novel 2-DOF Compound Constant-Force Parallel
Gripper
9. Design and analysis of a 2-DOF compliant gripper with constant-force
flexure mechanism
10. Design of a New Passive End-Effector Based on Constant-Force Mechanism
for Robotic Polishing
11. Design of a Novel Passive Polishing End-Effector With Adjustable Constant
Force and Wide Operating Angle
12. Design and development of a compliant constant-force manipulator with
sub-Newton force for biological sample manipulation
13. Design and development of constant-force robotic ultrasound imaging
system for biomedical applications
Dr. Qingsong Xu is a Professor in the Department of Electromechanical Engineering at the Faculty of Science and Technology, University of Macau, and has served as the Director of the Smart and Micro/Nano Systems Laboratory since 2010. His research focuses on intelligent micro/nanosystems, precision robotics, and biomedical applications. He currently serves as an Associate Editor for IEEE Transactions on Robotics (T-RO). Previously, he was a Technical Editor for IEEE/ASME Transactions on Mechatronics (T-MECH) and an Associate Editor for both IEEE Transactions on Automation Science and Engineering (T-ASE) and IEEE Robotics and Automation Letters (RA-L). Prof. Xu has received more than ten best paper awards from international conferences and multiple Macao Science and Technology Awards from Macao SAR, China. Since 2019, he has been recognized among the top 2% of the world's scientists by Stanford University. He is also a Fellow of ASME.
