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Univ.-Prof. Dr.-Ing. habil. Lena Zentner


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Compliant systems

ISBN 978-3-11-047974-4 (2019)
ISBN 978-3-11-047974-4 (2019)

Lena Zentner, Sebastian Linß
Compliant systems
Mechanics of elastically deformable mechanisms, actuators and sensors

Compliant systems use the elastic deformation either of system parts or of the entire system to effect, transmit, and sense motion or forces. Due to their benefits, compliant systems are state of the art in a wide variety of technical fields, including robotics, biomedical engineering, precision engineering, metrology, micromechanical and sensor applications, as well as in the handling of soft objects. However, their complex deformation and motion behavior complicates both their modeling and design.
This book primarily provides a theoretical description of elastically deformable components of compliant systems – compliant mechanisms, fluid-mechanical compliant actuators, and compliant sensors – by means of different modeling methods. The book also introduces the first comprehensive classification for such elastic components with various application examples. Compliant grippers, curved elastic beams, compliant sensor elements, compliant pneumatically actuated fingers, or pipes with flowing liquid – these are just some of the examples used to demonstrate the modeling approaches for compliant systems. Furthermore, a conceptual framework for the synthesis of high-precision and large-stroke compliant mechanisms with flexure hinges based on commonly-used notch shapes or an optimal design is presented.
This book is of use to scientists, engineers, and students in understanding the mechanical behavior of compliant systems, and it gives inspiration and assistance in their design. Classifications and different modeling or synthesis methods are provided that allow for the selection, description, and implementation of elastically deformable mechanisms, actuators, and sensors.


Microactuators and Micromechanisms

ISBN 978-3-319-45387-3 (2016)

Herausgeber: Zentner, L., Corves, B., Jensen, B., Lovasz, E.C. (Eds.)
Microactuators and Micromechanisms
Proceedings of MAMM-2016, Ilmenau, Germany, October 5-7, 2016

This book brings together investigations which combine theoretical and experimental results related to such systems as capsule micromechanisms, active micro catheters, nanotube vascular stents, mechanisms for micromilling, different compliant mechanisms including grippers and compliant systems with actuators and sensors, microrobots based on vibrations, tactile sensors, tooth brackets, compliant valves, and space reflectors.This volume contains twenty-two contributions from researchers from ten countries, represented at the 4th Conference on Microactuators and Micromechanisms, which was held in 2016 in Ilmenau, Germany. The aim of the conference was to provide a special opportunity for a know-how exchange and collaboration in various disciplines concerning systems pertaining to micro-technology.This Conference was organized under the patronage of IFToMM (International Federation for the Promotion of Mechanism and Machine Science).

Nachgiebige Mechanismen

ISBN 978-3-486-76881-7 (2014)

Lena Zentner

Vermittelt Wissen und Inspiration bei der Entwicklung neuartiger Geräte

Nachgiebige Mechanismen sind im Stande, Bewegungen und Kräfte zu übertragen dank der Fähigkeit zur Deformation von Systemteilen bzw. des ganzen Systems. Diese Eigenschaft ruft mehrere Vorteile nachgiebiger Mechanismen hervor. Sie können monolithisch hergestellt werden und sind dadurch miniaturisierbar. Sie sind reibungsfrei und wartungsarm sowie im Stande, komplexe Bahnen zu realisieren. Zu einem der Nachteile nachgiebiger Mechanismen gehört deren komplizierte theoretische Beschreibung, daher widmet sich das Buch in erster Linie unterschiedlichen Modellierungsmethoden nachgiebiger Mechanismen und fluidmechanischer Aktuatoren. Das vorliegende Werk bietet außerdem erstmals eine breite Klassifikation zur Thematik mit Anwendungsbeispielen aus verschiedenen technischen Bereichen. Ein Greifer mit verformbaren Fingern, ein Greifer mit einem elastischen Körper, eine gekrümmte verformbare Sonde, nachgiebige Sensorelemente, ein Bohrer unter Belastung und ein Schlauch mit Innenströmung – das sind nur einige von den Beispielen, an welchen die Wege der Modellbildung nachgiebiger Systeme demonstriert werden.
Lena Zentner, TU Ilmenau


Spider Ecophysiology

ISBN 978-3-642-33988-2 (2013)

Edited by Wolfgang Nentwig
Spider Ecophysiology

With over 43,000 species, spiders are the largest predacious arthropod group. They have developed key characteristics such as multi-purpose silk types, venoms consisting of hundreds of components, locomotion driven by muscles and hydraulic pressure, a highly evolved key-lock mechanism between the complex genital structures, and many more unique features. After 300 million years of evolutionary refinement, spiders are present in all land habitats and represent one of the most successful groups of terrestrial organisms.

Ecophysiology combines functional and evolutionary aspects of morphology, physiology, biochemistry and molecular biology with ecology. Cutting-edge science in spiders focuses on the circulatory and respiratory system, locomotion and dispersal abilities, the immune system, endosymbionts and pathogens, chemical communication, gland secretions, venom components, silk structure, structure and perception of colours as well as nutritional requirements. Spiders are valuable indicator species in agroecosystems and for conservation biology. Modern transfer and application technologies research spiders and their products with respect to their value for biomimetics, material sciences, and the agrochemical and pharmaceutical industries.

Chapter 34: Modelling and Application of the Hydraulic Spider Leg Mechanism by Lena Zentner

Use of the knowledge about biological systems for mechanical design affords much potential in solving various interesting technical problems like for gripping, manipulation and locomotion tasks. The mechanics of the motion of the spider leg shall be considered in this context. The mobility of the limbs of the spider leg is provided by a highly developed musculature and, on the other hand, by different structure of the joints. Numerous muscles pass through the corresponding parts of the leg. These muscles can act as flexors or as extensors. The exceptions can be seen concerning for example of femur-patella joint and tibia-metatarsus joint at the theraphosid spider Phrixotrichus roseus; these joints have the flexors only. The axis of rotation of the hydraulic joint goes through the peripheral point of the leg cross-section. Hence, there are no extensors in such a design. In this case, the stretching occurs hydraulically.


Mechanical Engineering

ISBN 978-953-51-0505-3 (2012)

Edited by Murat Gokcek
Mechanical Engineering

The book substantially offers the latest progresses about the important topics of the "Mechanical Engineering" to readers. It includes twenty-eight excellent studies prepared using state-of-art methodologies by professional researchers from different countries. The sections in the book comprise of the following titles: power transmission system, manufacturing processes and system analysis, thermo-fluid systems, simulations and computer applications, and new approaches in mechanical engineering education and organization systems.

Chapter 15: On the Mechanical Compliance of Technical Systems by Lena Zentner and Valter Böhm

In the safe physical human-machine interaction the compliance of technical systems is an elementary requirement. The physical compliance of technical systems can be provided either by control functions implementation and/or intrinsic by structural configuration and material properties optimization. The latter is advantageous because of higher reliability as well as general simplicity of the design and production technologies. In the paper we focus on mechanical systems with intrinsic mechanical compliance. In general the deformability of structures is primarly characterised by their stiffness. Compliant mechanisms are mechanisms, whose functionality is based on its deformability. The goal of each engineer is by the design of mechanisms the setting of compliance depending upon the purpose of its application. It should be considered, that the compliance is dependent on a variety of parameters. The optimal design of these mechanisms can be realized only with precise knowledge of the influence parameters and possible types of compliance.