A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm
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...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2012-12-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf |
| _version_ | 1818876427913658368 |
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| author | J. Lassooij N. Tolou G. Tortora S. Caccavaro A. Menciassi J. L. Herder |
| author_facet | J. Lassooij N. Tolou G. Tortora S. Caccavaro A. Menciassi J. L. Herder |
| author_sort | J. Lassooij |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-19T13:42:13Z |
| format | Article |
| id | doaj.art-ae6a04569cc64a0fb659e50bd1150309 |
| institution | Directory Open Access Journal |
| issn | 2191-9151 2191-916X |
| language | English |
| last_indexed | 2024-12-19T13:42:13Z |
| publishDate | 2012-12-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | Mechanical Sciences |
| spelling | doaj.art-ae6a04569cc64a0fb659e50bd11503092022-12-21T20:18:59ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2012-12-0132859310.5194/ms-3-85-2012A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic armJ. LassooijN. TolouG. TortoraS. CaccavaroA. MenciassiJ. L. HerderThis 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.http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf |
| spellingShingle | J. Lassooij N. Tolou G. Tortora S. Caccavaro A. Menciassi J. L. Herder A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm Mechanical Sciences |
| title | A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm |
| title_full | A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm |
| title_fullStr | A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm |
| title_full_unstemmed | A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm |
| title_short | A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm |
| title_sort | statically balanced and bi stable compliant end effector combined with a laparoscopic 2dof robotic arm |
| url | http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf |
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