# Compliant Mechanisms: Principles and Design

- Institution: IISc Bangalore
- Department: Mechanical Engineering
- Teacher: Prof. G. K. Ananthasuresh
- Level: Undergraduate
- Language: English
- Subjects: Engineering
- Source: [NPTEL](https://nptel.ac.in/courses/112108211)
- Licence: [CC BY-NC-SA](https://nptel.ac.in/faq) (Non-commercial use only.)
- Syllabus: [at the source](https://nptel.ac.in/courses/112108211)
- Who can watch: Tweens profiles and older (sources give no ratings; placed by Invisible Network from the source's own words)

This course introduces the concept and principles of compliant mechanisms and presents the design methods in detail. Various applications of compliant mechanisms in consumer products, microsystems, aerospace, automotive, and biomedical industries will be touched upon throughout the course. It is a comprehensive treatment of the growing field of compliant mechanisms starting from the classics and basics and ending with the state of the art.

Intended audience: Fourth year UG and PG level

Prerequisites: Preferred - Kinematics; finite element analysis; optimization theory

## Lectures

1. [Overview](https://invisiblenetwork.ai/learn/nptel/112108211/7f6ed9f37643) (YouTube)
2. [Spirit of compliant design](https://invisiblenetwork.ai/learn/nptel/112108211/606d161df301) (YouTube)
3. [A glimpse of applications](https://invisiblenetwork.ai/learn/nptel/112108211/1129553bd0e2) (YouTube)
4. [Mobility and degrees of freedom in compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/42a7d359b195) (YouTube)
5. [Maxwell’s rule and Grübler’s formula](https://invisiblenetwork.ai/learn/nptel/112108211/7accfba0c071) (YouTube)
6. [Using compatibility and force equilibrium matrices to identify degrees of freedom and states of self-stress in trusses](https://invisiblenetwork.ai/learn/nptel/112108211/0183d2df4491) (YouTube)
7. [Empirical formula for flexure joints](https://invisiblenetwork.ai/learn/nptel/112108211/aa7f38d97880) (YouTube)
8. [Types of elastic pairs (flexures)](https://invisiblenetwork.ai/learn/nptel/112108211/f0785ccfbba1) (YouTube)
9. [Linear finite element analysis of compliant mechanisms with beam elements](https://invisiblenetwork.ai/learn/nptel/112108211/01eefe5e0083) (YouTube)
10. [A compliant mechanism kit](https://invisiblenetwork.ai/learn/nptel/112108211/8a93b0948e72) (YouTube)
11. [Linear and nonlinear finite element analyses using continuum elements](https://invisiblenetwork.ai/learn/nptel/112108211/7849b6d602ea) (YouTube)
12. [Subtleties in finite element analysis: geometric nonlinearity and contact](https://invisiblenetwork.ai/learn/nptel/112108211/c15f6119892b) (YouTube)
13. [Deformation of a cantilever under a tip-load, using elliptic integrals](https://invisiblenetwork.ai/learn/nptel/112108211/f3bf5a75e944) (YouTube)
14. [Elliptic integrals and their use in elastica analysis](https://invisiblenetwork.ai/learn/nptel/112108211/26595e49fc44) (YouTube)
15. [Frisch-Fay’s approach to large deformation of beam](https://invisiblenetwork.ai/learn/nptel/112108211/3ba791ee4243) (YouTube)
16. [Burns-Crossley’s kinematic model](https://invisiblenetwork.ai/learn/nptel/112108211/a20aa3795bc3) (YouTube)
17. [Howell-Midha’s elastic model](https://invisiblenetwork.ai/learn/nptel/112108211/bf16e9157336) (YouTube)
18. [Putting together the pseudo rigid-body model](https://invisiblenetwork.ai/learn/nptel/112108211/b0eb93062dd8) (YouTube)
19. [Modeling a partially compliant mechanism](https://invisiblenetwork.ai/learn/nptel/112108211/fb35d5cd5c3b) (YouTube)
20. [Kinematic coefficients of a four-bar linkage with and without springs](https://invisiblenetwork.ai/learn/nptel/112108211/bdfddd68507a) (YouTube)
21. [Solving equations of PRB modeling and comparing with finite element analysis](https://invisiblenetwork.ai/learn/nptel/112108211/afa7d26dde47) (YouTube)
22. [Loop-closure equations for PRB models of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/b026c8d7bf30) (YouTube)
23. [Burmester theory for compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/f3afb54a90fb) (YouTube)
24. [PRB-based Synthesis Examples](https://invisiblenetwork.ai/learn/nptel/112108211/0956ed8c073c) (YouTube)
25. [Structural optimization approach](https://invisiblenetwork.ai/learn/nptel/112108211/4ee78b758b11) (YouTube)
26. [Early works on design for compliance](https://invisiblenetwork.ai/learn/nptel/112108211/75212ec4e4fd) (YouTube)
27. [Design for deflection of trusses](https://invisiblenetwork.ai/learn/nptel/112108211/86291fd02461) (YouTube)
28. [Design for deflection of beams and frames](https://invisiblenetwork.ai/learn/nptel/112108211/4bce31f07d3b) (YouTube)
29. [Design of elastic continua for desired deflection](https://invisiblenetwork.ai/learn/nptel/112108211/8fdfd3cfe269) (YouTube)
30. [Continuum element-based topology optimization of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/b105a50417e8) (YouTube)
31. [YinSyn; synthesis of nonlinear responses with compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/1c800016e4c4) (YouTube)
32. [Five different formulations for compliant mechanism design and some benchmark problems](https://invisiblenetwork.ai/learn/nptel/112108211/9c24c6b7be1d) (YouTube)
33. [How to achieve distributed compliance](https://invisiblenetwork.ai/learn/nptel/112108211/ded7818b7919) (YouTube)
34. [Shape optimization](https://invisiblenetwork.ai/learn/nptel/112108211/1ef9843f378e) (YouTube)
35. [Cam-flexure clamp-case-study](https://invisiblenetwork.ai/learn/nptel/112108211/d20bdafe9eb6) (YouTube)
36. [SL model for compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/134695c281be) (YouTube)
37. [Feasibility maps for compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/1cdefc96d12f) (YouTube)
38. [Selection of compliant mechanisms for given user-specifications](https://invisiblenetwork.ai/learn/nptel/112108211/0c3e76997f9a) (YouTube)
39. [Two case-studies using feasibility maps technique](https://invisiblenetwork.ai/learn/nptel/112108211/b65e9aaab48c) (YouTube)
40. [SML model for compliant mechanisms for dynamic response](https://invisiblenetwork.ai/learn/nptel/112108211/58461ce309ae) (YouTube)
41. [Re-design of compliant mechanisms; Matlab and Java codes](https://invisiblenetwork.ai/learn/nptel/112108211/371169c7510a) (YouTube)
42. [Non-dimensional analysis of beams](https://invisiblenetwork.ai/learn/nptel/112108211/a6e3ea364de2) (YouTube)
43. [Deformation index and slenderness ratio of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/8d1dfbfaaa86) (YouTube)
44. [Kinetoelastostatic maps](https://invisiblenetwork.ai/learn/nptel/112108211/f68b1530a512) (YouTube)
45. [Designing with kinetoelastic maps](https://invisiblenetwork.ai/learn/nptel/112108211/f1dc81e0c6ea) (YouTube)
46. [Non-dimensinalization of stress, frequency, and other measures](https://invisiblenetwork.ai/learn/nptel/112108211/d617b8fbd920) (YouTube)
47. [Designing compliant suspensions using kinetoelastic maps](https://invisiblenetwork.ai/learn/nptel/112108211/ef857d8664d3) (YouTube)
48. [Instant centre method for designing compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/c6f4df99f9eb) (YouTube)
49. [Stiffness and compliance ellipsoids](https://invisiblenetwork.ai/learn/nptel/112108211/0000b5432d86) (YouTube)
50. [Building block method of designing compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/4ff917154bbf) (YouTube)
51. [Comparative analysis of different methods for designing compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/0330efdf3f03) (YouTube)
52. [Aspects of Mechanical advantage of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/c2b17dff757c) (YouTube)
53. [Mechanical advantage of rigid-body and compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/e36badab5bb0) (YouTube)
54. [Bistability in elastic systems](https://invisiblenetwork.ai/learn/nptel/112108211/d21db0527bd2) (YouTube)
55. [Analysis of bistable arches](https://invisiblenetwork.ai/learn/nptel/112108211/cb2efbe58389) (YouTube)
56. [Compliant mechanisms with bistable arches](https://invisiblenetwork.ai/learn/nptel/112108211/643081046535) (YouTube)
57. [Static balancing and zero-free-length springs](https://invisiblenetwork.ai/learn/nptel/112108211/18ee936a2d34) (YouTube)
58. [Static balance of a compliant mechanism using a linkage](https://invisiblenetwork.ai/learn/nptel/112108211/82aee01b3a0c) (YouTube)
59. [Static balancing method for compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/fc3718def409) (YouTube)
60. [A catalogue of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/1a428d2849a2) (YouTube)
61. [Compliant suspension mechanism in microsystems (MEMS)](https://invisiblenetwork.ai/learn/nptel/112108211/f7a6b4b46e51) (YouTube)
62. [Micromechanical signal processors using compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/4b66bd6f800f) (YouTube)
63. [A few special concepts of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/841bf0c564c7) (YouTube)
64. [Materials and prototyping of compliant mechanisms](https://invisiblenetwork.ai/learn/nptel/112108211/7ae491eacbde) (YouTube)
65. [Summary of the course](https://invisiblenetwork.ai/learn/nptel/112108211/506ac308317d) (YouTube)
66. [Micromachined accelerometers with Displacement-amplifying Compliant Mechanisms (DaCMs)](https://invisiblenetwork.ai/learn/nptel/112108211/f23b565c85d3) (YouTube)
67. [Miniature compliant mechanisms as cell-manipulation tools](https://invisiblenetwork.ai/learn/nptel/112108211/966b4eb22462) (YouTube)
68. [Micro-newton force sensor](https://invisiblenetwork.ai/learn/nptel/112108211/40f781ee5b6d) (YouTube)
69. [Compliant tissue cutting mechanism](https://invisiblenetwork.ai/learn/nptel/112108211/5e2a6132bc89) (YouTube)
70. [A compliant pipe-crawling robots](https://invisiblenetwork.ai/learn/nptel/112108211/fb7fb1b6e240) (YouTube)
71. [A compliant easy-chair for the elderly](https://invisiblenetwork.ai/learn/nptel/112108211/991f410d3f3a) (YouTube)