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.


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    Title :

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


    Contributors:
    Lassooij, J. (author) / Tolou, N. (author) / Tortora, G. (author) / Caccavaro, S. (author) / Menciassi, A. (author) / Herder, J. L. (author)

    Publication date :

    2018-01-15


    Remarks:

    eISSN: 2191-916X



    Type of media :

    Miscellaneous


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



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