Design of a statically balanced fully compliant grasper

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dc.citation.journalTitleMECHANISM AND MACHINE THEORY
dc.contributor.authorLamers, A.J.
dc.contributor.authorGallego Sánchez, J.A.
dc.contributor.authorHerder, J.L.
dc.contributor.departmentUniversidad EAFIT. Departamento de Ingeniería Mecánicaspa
dc.contributor.researchgroupMecatrónica y Diseño de Máquinasspa
dc.creatorLamers, A.J.
dc.creatorGallego Sánchez, J.A.
dc.creatorHerder, J.L.
dc.date.accessioned2021-04-16T20:20:47Z
dc.date.available2021-04-16T20:20:47Z
dc.date.issued2015-10-01
dc.description.abstractMonolithic and thus fully compliant surgical graspers are promising when they provide equal or better force feedback than conventional graspers. In this work for the first time a fully compliant grasper is designed to exhibit zero stiffness and zero operation force. The design problem is addressed by taking a building block approach, in which a pre-existing positive stiffness compliant grasper is compensated by a negative stiffness balancer. The design of the balancer is conceived from a 4-bar linkage and explores the rigid-body-replacement method as a design approach towards static balancing. Design variables and sensitivities are determined through the use of a pseudo-rigid-body model. Final dimensions are obtained using rough hand calculations. Justification of the pseudo rigid body model as well as the set of final dimensions is done by non-linear finite element analysis. Experimental validation is done through a titanium prototype of 40 mm size having an unbalanced positive stiffness of 61.2 N/mm showing that a force reduction of 91.75% is achievable over a range of 0.6 mm, with an approximate hysteresis of 1.32%. The behavior can be tuned from monostable to bistable. The rigid-body-replacement method proved successful in the design of a statically balanced fully compliant mechanism, thus, widening the design possibilities for this kind of mechanism. (C) 2015 Elsevier Ltd. All rights reserved.eng
dc.identifierhttps://eafit.fundanetsuite.com/Publicaciones/ProdCientif/PublicacionFrw.aspx?id=1762
dc.identifier.doi10.1016/j.mechmachtheory.2015.05.014
dc.identifier.issn0094114X
dc.identifier.issn03741052
dc.identifier.otherWOS;000359433800017
dc.identifier.otherSCOPUS;2-s2.0-84931270181
dc.identifier.urihttp://hdl.handle.net/10784/29299
dc.language.isoeng
dc.publisherElsevier Ltd
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-84931270181&doi=10.1016%2fj.mechmachtheory.2015.05.014&partnerID=40&md5=c14a3540e094b80f724ae4e6d9d07a62
dc.rightshttps://v2.sherpa.ac.uk/id/publication/issn/0094-114X
dc.sourceMECHANISM AND MACHINE THEORY
dc.subjectStatic balancingeng
dc.subjectZero stiffnesseng
dc.subjectPseudo-rigid-body modeleng
dc.subjectCompliant mechanismseng
dc.subjectLaparoscopic graspereng
dc.subjectRigid-body-replacement-methodeng
dc.titleDesign of a statically balanced fully compliant graspereng
dc.typeinfo:eu-repo/semantics/articleeng
dc.typearticleeng
dc.typeinfo:eu-repo/semantics/publishedVersioneng
dc.typepublishedVersioneng
dc.type.localArtículospa

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