Print Email Facebook Twitter A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm Title A statically balanced and bi-stable compliant end effector combined with a laparoscopic 2DoF robotic arm Author Lassooij, J. Tolou, N. Tortora, G. Caccavaro, S. Menciassi, A. Herder, J.L. Faculty Mechanical, Maritime and Materials Engineering Department Biomechanical Engineering Date 2012-12-05 Abstract 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. Subject OA-Fund TU Delft To reference this document use: http://resolver.tudelft.nl/uuid:457d1e32-8300-47ea-884e-5246f52d3606 DOI https://doi.org/10.5194/ms-3-85-2012 Publisher Copernicus Publications ISSN 2191-916X Source http://www.mech-sci.net/3/85/2012/ Source Mechanical Sciences, 3 (2), 2012 Part of collection Institutional Repository Document type journal article Rights © Author(s) 2012. This work is distributed under the Creative Commons Attribution 3.0 License. Files PDF ms-3-85-2012.pdf 777.53 KB Close viewer /islandora/object/uuid:457d1e32-8300-47ea-884e-5246f52d3606/datastream/OBJ/view