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Research Papers

Design of an Underactuated Compliant Gripper for Surgery Using Nitinol

[+] Author and Article Information
Mario Doria

Department of Mechanical Engineering, École Polytechnique de Montréal, Montréal, QC, H3T 1J4, Canadamario.doria@polymtl.ca

Lionel Birglen1

Department of Mechanical Engineering, École Polytechnique de Montréal, Montréal, QC, H3T 1J4, Canadalionel.birglen@polymtl.ca

1

Corresponding author.

J. Med. Devices 3(1), 011007 (Mar 17, 2009) (7 pages) doi:10.1115/1.3089249 History: Received May 29, 2008; Revised January 19, 2009; Published March 17, 2009

This paper presents the development of an underactuated compliant gripper using a biocompatible superelastic alloy, namely, nitinol. This gripper has two fingers with five phalanges each and can be used as the end-effector of an endoscopic instrument. Optimization procedures are required to obtain the geometry of the transmission mechanism because of its underactuated nature and its underlying complexity. A driving mechanism further incorporated in the gripper to distribute actuation to both fingers and accomplish the grasping of asymmetrical objects without requiring supplementary inputs is also discussed. Finally, the results of numerical simulations with different materials and different grasped objects are presented and discussed.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 14

von Mises stress of a nitinol gripper during an asymmetrical grip

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Figure 13

von Mises stress of a nitinol gripper during a symmetrical grip

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Figure 12

Prototype of the gripper

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Figure 11

Optimized final design

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Figure 10

Performance index of the driving mechanism

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Figure 9

Seesaw driving mechanism

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Figure 8

Normal probability plot of the residuals of the ANOVA

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Figure 7

Three-stage driving mechanism architecture used

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Figure 6

Comparison of the three finger architectures

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Figure 5

Examples of test objects used in the optimization

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Figure 4

Finger architectures considered

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Figure 3

Division of the constitutive mechanisms of the gripper

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Figure 2

Joints used in the finger

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Figure 1

Closing sequence of a two-phalanx underactuated finger (5)

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