a statically balanced and bi-stable compliant end effector combined with a laparoscopic 2dof robotic arm

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ID: 164087
2012
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Abstract
This article presents the design of a newly developed 2DoF robotic arm with a novel statically balanced and bi-stable compliant grasper as the end effector for laparoscopic surgery application. The arm is based on internal motors actuating 2 rotational DoFs: pitch and roll. The positive stiffness of the monolithic grasper has been compensated using pre-curved straight guided beams that are preloaded collinear with the direction of actuation of the grasper. The result is a fully compliant statically balanced laparoscopic grasper. The grasper has been successfully adapted to a robotic arm. The maximum force and stiffness compensations were measured to be 94% and 97% (i.e. near zero stiffness) respectively. Furthermore, the feasibility of adjusting for bi-stable behavior has been shown. This research can be a preliminary step towards the design of a statically balanced fully compliant robotic arm for laparoscopic surgery and similar areas.
Reference Key
lassooij2012mechanicala Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors ;J. Lassooij;N. Tolou;G. Tortora;S. Caccavaro;A. Menciassi;J. L. Herder
Journal advances in medical education and practice
Year 2012
DOI
10.5194/ms-3-85-2012
URL
http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf
Keywords
materials of engineering and construction mechanics of materials

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