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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 3, issue 2
Mech. Sci., 3, 85-93, 2012
https://doi.org/10.5194/ms-3-85-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Future directions in compliant mechanisms

Mech. Sci., 3, 85-93, 2012
https://doi.org/10.5194/ms-3-85-2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.

Research article 05 Dec 2012

Research article | 05 Dec 2012

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

J. Lassooij1, N. Tolou1, G. Tortora2, S. Caccavaro2, A. Menciassi2, and J. L. Herder1 J. Lassooij et al.
  • 1Delft University of Technology, Faculty of Mechanical, Maritime and Materials Engineering, Department of Biomechanical Engineering, Mekelweg 2, 2628 CD Delft, The Netherlands
  • 2The BioRobotics Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, 56127 Pisa, Italy

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.

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