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

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...

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Main Authors: J. Lassooij, N. Tolou, G. Tortora, S. Caccavaro, A. Menciassi, J. L. Herder
Format: Article
Language:English
Published: Copernicus Publications 2012-12-01
Series:Mechanical Sciences
Online Access:http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf
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spelling doaj-ae6a04569cc64a0fb659e50bd11503092020-11-24T20:47:30ZengCopernicus 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
collection DOAJ
language English
format Article
sources DOAJ
author J. Lassooij
N. Tolou
G. Tortora
S. Caccavaro
A. Menciassi
J. L. Herder
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
author_facet J. Lassooij
N. Tolou
G. Tortora
S. Caccavaro
A. Menciassi
J. L. Herder
author_sort J. Lassooij
title 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_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_sort statically balanced and bi-stable compliant end effector combined with a laparoscopic 2dof robotic arm
publisher Copernicus Publications
series Mechanical Sciences
issn 2191-9151
2191-916X
publishDate 2012-12-01
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.
url http://www.mech-sci.net/3/85/2012/ms-3-85-2012.pdf
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