Compliant transmission mechanisms

Classical human-engineered transmission mechanisms such as linkages, gears, and couplings are well established designs which made out of multiple parts and rigid hinges. However, these mechanisms impose disadvantages such as wear, friction, low precision and reliability, need for assembly and lubrications, and difficulty for miniaturization. By employing the natural elasticity of materials, rather than using rigid hinges and connections, sophisticated motions can be realized with minimal mechanical complexity. This relative new paradigmin engineering design, called compliant mechanisms, enables the creation of monolithic mechanisms that are strong, compliant, precise, scalable, and cost-effective. The kinematics of classical gears and couplings impose several limitations to design