Inverted L-Arm Gripper Compliant Mechanism

Dearden, Jason; Grames, Clayton L.; Jensen, Brian D.; Magleby, Spencer P.; Howell, Larry L.

doi:10.1115/1.4036336

Cited by 16 publications

(8 citation statements)

References 15 publications

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“…An additional advantage is that compliant joints can be produced as a single, monolithic part without assembly and therefore can reduce the number of components and assembly steps. Moreover, by using flexible components to achieve motion, friction between sliding elements within the joint can be eliminated [33][34][35][36].…”

Section: Gripper Designmentioning

confidence: 99%

A Fully 3D-Printed Steerable Instrument for Minimally Invasive Surgery

et al. 2021

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In the field of medical instruments, additive manufacturing allows for a drastic reduction in the number of components while improving the functionalities of the final design. In addition, modifications for users’ needs or specific procedures become possible by enabling the production of single customized items. In this work, we present the design of a new fully 3D-printed handheld steerable instrument for laparoscopic surgery, which was mechanically actuated using cables. The pistol-grip handle is based on ergonomic principles and allows for single-hand control of both grasping and omnidirectional steering, while compliant joints and snap-fit connectors enable fast assembly and minimal part count. Additive manufacturing allows for personalization of the handle to each surgeon’s needs by adjusting specific dimensions in the CAD model, which increases the user’s comfort during surgery. Testing showed that the forces on the instrument handle required for steering and grasping were below 15 N, while the grasping force efficiency was calculated to be 10–30%. The instrument combines the advantages of additive manufacturing with regard to personalization and simplified assembly, illustrating a new approach to the design of advanced surgical instruments where the customization for a single procedure or user’s need is a central aspect.

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Section: Gripper Designmentioning

confidence: 99%

A Fully 3D-Printed Steerable Instrument for Minimally Invasive Surgery

et al. 2021

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“…This mechanism also eliminates the need for lubrication, unlike the conventional slider-crank mechanism. There are two types of semicompliant four-bar mechanisms, namely flexure-incompression and flexure-in-tension [33], available in the literature. In the former case, the force exerted by the user acts as a compression load.…”

Section: System Design Descriptionmentioning

confidence: 99%

Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

et al. 2021

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Haptic devices providing various sensations have multiple applications spanning over many fields such as surgical training, robot-assisted minimal invasive surgery (MIS), military, space, and underwater exploration. Most of the existing haptic interfaces lack the capability to effectively replicate the remote environment due to the intricacies involved in providing all necessary sensations simultaneously. In this paper, a novel haptic device with three degrees of freedom (DOF) is developed to render high-fidelity touch sensations like stiffness, texture, shape, and shear concurrently. The proposed haptic device consists of a spherical segment affixed with an array of texture surfaces based on the virtual/remote environment. The device can move in 3-DOF, namely, the pitch, roll, and vertical motion. The haptic interface provides kinesthetic cues like stiffness, shape, and environmental shear and tactile cues like texture by combining the movements of the three actuators along with the segmented housing. A systematic kinematic analysis of the proposed design is presented. The performance is enhanced by implementing the hybrid control methodology that switches between impedance and position control, thus making the interaction realistic and immersive. Experiments have been performed on the developed haptic device, and the results demonstrate its accuracy in reproducing various modalities of haptic feedback of the virtual/remote environment.

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“…Compliant mechanisms are monolithic systems that produce complex movements through the elastic deformation of their structure. They have many applications, but they are mostly used in the medical [1], space [2], and precision domains [3,4]. Compliant mechanisms do not have backlash or wear, which leads to precise motions and absence of lubrication.…”

Section: Introductionmentioning

confidence: 99%

The Development of a 3D-Printed Compliant System for the Orientation of Payloads on Small Satellites: Material Characterization and Finite Element Analysis of 3D-Printed Polyetherketoneketone (PEKK)

Domerg,

Ostré,

Joliff

et al. 2024

Aerospace

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This article focuses on the development of a 3D-printed 2-degree-of-freedom (DOF) joint for the payloads’ orientation on small satellites. This system is a compliant mechanism, meaning that this monolithic system composed of cross-axis flexural pivots (CAFPs) produces complex movements through the elastic deformation of its structure. Using fused filament fabrication (FFF), a demonstrator made of Polyetherketoneketone (PEKK) is printed to determine its potential compatibility with space conditions. Focusing on a segment of the joint, the CAFP, this study aims for an enhancement of its mechanical behavior through the study of its printing direction and the creation of an accurate finite element model of this compliant mechanism. First, material characterization of 3D-printed PEKK is achieved through differential scanning calorimetry tests of the filament and flexural and tensile tests of specimens printed in different printing directions. Then, these data are used to perform a finite element analysis of different CAFP designs and compare their mechanical response of their 3D-printed twin using digital image correlation software. Finally, the CAFP structures were observed by X-ray tomography. The results show that printing direction greatly influences both flexural and tensile strength. Voids induced by the FFF process could impact the mechanical behavior of 3D-printed parts as the simple CAFP design has a better test/model correlation than complex ones. This could influence its resistance to space environment.

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Inverted L-Arm Gripper Compliant Mechanism

Cited by 16 publications

References 15 publications

A Fully 3D-Printed Steerable Instrument for Minimally Invasive Surgery

A Fully 3D-Printed Steerable Instrument for Minimally Invasive Surgery

Design, Analysis, and Control of a 3-DOF Novel Haptic Device Displaying Stiffness, Texture, Shape, and Shear

The Development of a 3D-Printed Compliant System for the Orientation of Payloads on Small Satellites: Material Characterization and Finite Element Analysis of 3D-Printed Polyetherketoneketone (PEKK)

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