Sara Lee Kit Yee
ABSTRACT
The study evaluates on the mechanical design and dimensional synthesis for pseudo-rigid-body model (PRBM) and finite element analysis (FEA) on a compliant constant-force surgical gripper. Polyethylene Terephthalate (PET), Polylactide (PLA) and Polypropylene Co-polymer (PPC) were selected for the analysis of output force, flexural pivot stress and deflection for both methods. The study found that the output force computed from PRBM and FEA method has the difference of about 30% for PET and PLA material, while the flexural pivot stress computed between PRBM and FEA method is less than 15 %. It was also revealed that maximum deflection occurred at the flexure hinge between the slider and crank of the compliant surgical gripper jaw.
- Kim U. K., Lee D., Yoon W. J., Hannaford B., and Choi H. 2015. Force Sensor Integrated Surgical Forceps for Minimally Invasive Robotic Surgery, IEEE Transactions on Robotics, vol. 31, 1214-1224. https://doi.org/10.1109/TRO.2015.2473515Google Scholar
Digital Library
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- Arata J., Kogiso S., Sakaguchi M., Nakadate R., Oguri S., Uemura M., 2015. Articulated minimally invasive surgical instrument based on compliant mechanism. International Journal of Computer Assisted Radiology and Surgery, vol. 10, 1837-43. https://doi.org/10.1007/s11548-015-1159-4Google ScholarCross Ref
- Howell L. L. and Midha A. 1994. A Method for the Design of Compliant Mechanisms With Small-Length Flexural Pivots. Journal of Mechanical Design, vol. 116. 280-290. https://doi.org/10.1115/1.2919359Google ScholarCross Ref
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