کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
7179966 | 1467742 | 2015 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Design of a statically balanced fully compliant grasper
ترجمه فارسی عنوان
طراحی سازگاری کامل سازگار با استاتیک
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کلمات کلیدی
تعادل استاتیک، سختی صفر، مدل بدنه سفت و سخت، مکانیسم سازگار، غربالگری لاپاروسکوپی، روش جابجایی با سفت و سخت،
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی صنعتی و تولید
چکیده انگلیسی
Monolithic 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 40Â mm size having an unbalanced positive stiffness of 61.2Â N/mm showing that a force reduction of 91.75% is achievable over a range of 0.6Â 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.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechanism and Machine Theory - Volume 92, October 2015, Pages 230-239
Journal: Mechanism and Machine Theory - Volume 92, October 2015, Pages 230-239
نویسندگان
A.J. Lamers, Juan Andrés Gallego Sánchez, Just L. Herder,