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: | , , , , , |
|---|---|
| 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 |