0
Technical Brief

Inverted L-Arm Gripper Compliant Mechanism

[+] Author and Article Information
Jason Dearden

Compliant Mechanisms Research Group Department of Mechanical Engineering Brigham Young University Provo, Utah 84602
byujason@gmail.com

Clayton Grames

New Product Development Intuitive Surgical Inc. Sunnyvale, CA 94086
clayt@grames.org

Brian D Jensen

Department of Mechanical Engineering Brigham Young University Provo, Utah 84602
bdjensen@byu.edu

Spencer P Magleby

Department of Mechanical Engineering Brigham Young University Provo, Utah 84602
magleby@byu.edu

Larry L Howell

Department of Mechanical Engineering Brigham Young University Provo, Utah 84602
lhowell@byu.edu

1Corresponding author.

ASME doi:10.1115/1.4036336 History: Received July 25, 2016; Revised March 05, 2017

Abstract

This work exploits the advantages of compliant mechanisms (devices that achieve their motion through the deflection of flexible members) to enable the creation of small instruments for minimally invasive surgery. Using flexures to achieve motion presents challenges, three of which are considered in this work. First, compliant mechanisms generally perform inadequately in compression. Second, for a $\pm90^{\circ}$ range of motion desired for each jaw, the bending stresses in the flexures are prohibitive considering materials used in current instruments. Third, for cables attached at fixed points on the mechanism the mechanical advantage will vary considerably during actuation. Research results are presented that address these challenges using compliant mechanism principles as demonstrated in a 2-degree-of-freedom L-Arm gripper.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In