A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm
| Autor: | J. Lassooij, N. Tolou, G. Tortora, S. Caccavaro, A. Menciassi, J. L. Herder |
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| Jazyk: | angličtina |
| Rok vydání: | 2012 |
| Předmět: | |
| Zdroj: | Mechanical Sciences, Vol 3, Iss 2, Pp 85-93 (2012) |
| Druh dokumentu: | article |
| ISSN: | 2191-9151 2191-916X |
| DOI: | 10.5194/ms-3-85-2012 |
| Popis: | 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. |
| Databáze: | Directory of Open Access Journals |
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