Design, Development and Preliminary Assessment of Grasping Devices for Robotized Medical Applications

2012 ◽  
Author(s):  
Olivier Piccin ◽  
Nitish Kumar ◽  
Laurence Meylheuc ◽  
Laurent Barbé ◽  
Bernard Bayle
Keyword(s):  
Large Deformations ◽  
Compliant Mechanism ◽  
Fem Analysis ◽  
Rigid Bodies ◽  
Medical Applications ◽  
Design Development ◽  
Preliminary Assessment ◽  
Service Capability ◽  
Compliant Parts ◽  
Medical Needle

This paper presents the development of NGDs (needle grasping devices) capable of handling elongated objects such as surgical needles. After describing the main demands of medical needle-based procedures, a requirement list for a typical NGD is presented. Some solution principles for a grasping device are generated, combined and then classified to obtain a set of principle variant solutions. The design study of some of these variant solutions is then developed and a discussion on two device candidates constructed using either interconnected rigid bodies or compliant parts will be presented. The mechanical behavior of the compliant mechanism acting on a needle barrel is simulated with a FEM analysis including the model of non-linearities induced by large deformations and the contact between the needle and the grasping device. Functional prototypes of both NGDs have been constructed and a first experimental assessment of their service capability is finally exposed.

Radiotheranostics with radiolanthanides: Design, development strategies, and medical applications

2019 ◽  
Vol 383 ◽  
pp. 104-131 ◽  
Author(s):  
Kenji Mishiro ◽  
Hirofumi Hanaoka ◽  
Aiko Yamaguchi ◽  
Kazuma Ogawa
Keyword(s):  
Development Strategies ◽  
Medical Applications ◽  
Design Development

Contact interaction between a shell of revolution and rigid bodies with large deformations

1988 ◽  
Vol 20 (3) ◽  
pp. 398-403
Author(s):  
V. G. Bazhenov ◽  
V. K. Lomunov ◽  
G. V. Sheronov
Keyword(s):  
Contact Interaction ◽  
Large Deformations ◽  
Rigid Bodies ◽  
Shell Of Revolution

A Kinetoelastic Approach to Continuum Compliant Mechanism Optimization

2008 ◽  
Author(s):  
Michael Yu Wang
Keyword(s):  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Optimization Technique ◽  
State Equation ◽  
Rigid Bodies ◽  
Leaf Spring ◽  
Initial Development ◽  
Structure Topology ◽  
New Perspective ◽  
New Formulation

This paper presents a new approach to designing continuum compliant mechanisms—the kinetoelastic approach. We present a new formulation of the design problem, incorporating not only the kinematic function requirements of the mechanism but, more importantly, the compliance characteristics of the mechanism’s structure. In our kinetoelastic model, the kinematics of the compliant mechanism is defined on rigid-bodies of input/output ports and is related to a set of kinetoelastic factors of mechanism’s structure in a state equation of the mechanism defined by the elasticity theory. Central to defining the compliance characteristics of the mechanism is the mechanism eigensystem with principal eigen-stiffness or eigen-compliance. In this new perspective, we further apply the kinetoelastic model to the problem of designing compliant translational joints with a structure topology optimization technique. This application demonstrates the capability of the kinetoelastic approach in producing compliant designs with desirable compliance properties, such as in the leaf-spring type sliding joint as opposed to the notch-type joint. The paper represents an initial development towards a complete methodology for continuum compliant mechanism design.

Dynamics of a compliant mechanism based on flexure hinges

2005 ◽  
Vol 219 (2) ◽  
pp. 225-235 ◽  
Author(s):  
K-B Choi
Keyword(s):  
Finite Element Method ◽  
Finite Element ◽  
Compliant Mechanism ◽  
Equation Of Motion ◽  
Rigid Bodies ◽  
Flexure Hinge ◽  
Flexure Hinges ◽  
Better Than ◽  
Element Method

This paper presents a novel equation of motion for flexure hinge-based mechanisms. The conventional equation of motion presented in previous work does not adequately describe the behaviours of rigid bodies for the following reasons: firstly, rotational directions for a transformed stiffness lack consistency at the two ends of a flexure hinge; secondly, the length of the flexure hinge is not considered in the equation. The equation of motion proposed in this study solves these problems. Modal analyses are carried out using the proposed equation of motion, the conventional equation of motion found in previous work, and a finite element method. The results show that the proposed equation of motion describes the behaviours of the rigid bodies better than the conventional equation of motion does.

scholarly journals Design, Development and Numerical Experiments of Compliant Anchor Mechanism for Clamping Purpose - A Topology Optimization Method

2019 ◽  
Vol 8 (2) ◽  
pp. 1890-1895
Keyword(s):  
Compliant Mechanism ◽  
Economic Status ◽  
Optimization Method ◽  
Raw Material ◽  
Work Piece ◽  
Optimized Design ◽  
Design Development ◽  
Rectangular Slot ◽  
Material Characteristics ◽  
Deformation Level

In the present scenario, every industry focusses mainly on the reduction of wastes. Because waste or scrap plays a major part in the economic status of an industry. It also involves the wastage of time, man power, machine power, raw material, electricity etc.Compliant Anchor mechanism is a flexible mechanism that transfer an input force and displacement at one part to an output force and displacement at another part through elastic body deformation. These may be monolithic (single-piece) or joint less structures.This paper elucidates a Compliant mechanism-based part i.e. Compliant Anchor is designed and numerically analyzed for its mobility, strength and durability with various material characteristics. This Compliant Anchorstructure is designed and developed as such Rigid bodiesapplication. Compliant Anchor is précised and exhibits Larger displacement at its wings with smaller strain.In this work the Compliant Anchor is suitably designed based on rectangular slot hole domain in a work piece to clamp the work piece rigidly(Casesapplication)in its surface, For that purpose various material characteristics chosen for design and development, The deformation study of the compliant anchor with various material characteristics analyzed through numerical analysis and The final topology optimized design is taken for development in 3D printing technology, This design can be used for various clamping applications suitably based on deformation level and application of external force.

Large Deformation Analysis and Experiments With Double Parallelogram Compliant Mechanisms

2018 ◽  
Author(s):  
Abhijit A. Tanksale ◽  
Prasanna S. Gandhi
Keyword(s):  
Large Deformation ◽  
High Precision ◽  
Large Deformations ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Vertical Plane ◽  
Coupled Analysis ◽  
Deformation Analysis ◽  
Flexible Beams ◽  
Straight Line

Compliant mechanisms are highly preferred in applications demanding motion with high precision. These mechanisms provide friction-less, backlash-free precise motion obtained through deformation of flexible members. The double parallelogram compliant mechanism (DPCM) is one the most important compliant mechanisms to obtain highly precise straight-line motion. DPCM when operated in horizontal plane yield high precision straight-line motion (even with large deformations) useful in several engineering applications. However, constraints such as space, dead loads, etc. may demand DPCMs to be used in the vertical plane. For DPCMs operating in a vertical plane, the axial load due to gravity causes tension and compression in flexible beams which get coupled to bending under large deformations. This ultimately affects the parasitic error of straight-line motion. This paper presents a coupled analysis, along with experimental validation, of DPCM operating in vertical plane considering gravity effects with large deformation.

Integration of Solid Modelling and FEM Analysis for the Design of Scroll Compressors

1999 ◽  
Author(s):  
Z. Jiang ◽  
K. Cheng ◽  
D. K. Harrison
Keyword(s):  
Fem Analysis ◽  
Constructive Solid Geometry ◽  
Solid Modelling ◽  
Design Development ◽  
Air Conditioners ◽  
Solid Geometry ◽  
Integration Approach ◽  
C Programming ◽  
Design And Manufacture ◽  
Associated Design

Abstract This paper presents an integration approach to solid modelling and finite element method (FEM) analysis on the components design of a scroll type of compressors which are becoming popular and widely used in refrigeration and air conditioners. It is time consuming to design and manufacture a scroll compressor since its two key components are complex shaped and high precision requirements. The authors use C++ programming and Pro/ENGINEER to implement the proposed approach and associated design development. Constructive solid geometry (CSG) modelling of two scroll components are created and presented. FEM analysis is used to further consolidate the modelling with respect to force and heat influences, etc. The paper concludes with a discussion on the potential of the proposed approach in mechanical product design.

A Novel Compliant Mechanism for Converting Reciprocating Translation Into Enclosing Curved Paths

2004 ◽  
Vol 126 (4) ◽  
pp. 667-672 ◽  
Author(s):  
Nilesh D. Mankame ◽  
G. K. Ananthasuresh
Keyword(s):  
Large Deformations ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Two Dimensional ◽  
Contact Interactions ◽  
Macro Scale ◽  
Potential Applications ◽  
Curved Paths ◽  
Single Material ◽  
Flexural Joints

This paper introduces a novel contact-aided compliant mechanism that uses intermittent contacts to convert a single translatory reciprocating input into two output curves, which intersect to enclose a two dimensional region. Contact interactions endow contact-aided compliant mechanisms with enhanced kinematic and kinetostatic capabilities. The mechanism described in this paper is designed to undergo large deformations repeatedly, without yielding by avoiding flexural joints and by using contacts to obtain the desired deformation. A single-material, joint-free and planar design makes the mechanism easy and economical to fabricate at the macro or micro scales. The design is validated experimentally by manufacturing and testing macro scale prototypes. Two potential applications that motivated this mechanism are also noted.

A Flexible Bearing with 1-DOF Translation for High-Precision Mechanism

2015 ◽  
Vol 764-765 ◽  
pp. 155-159
Author(s):  
Thanh Phong Dao ◽  
Shyh Chour Huang
Keyword(s):  
Fatigue Strength ◽  
High Precision ◽  
Compliant Mechanism ◽  
High Stress ◽  
Rigid Bodies ◽  
Design Parameters ◽  
Original Design ◽  
Length Width ◽  
Fixed End ◽  
Elastic Elements

Traditional bearings with one degree of freedom (1-DOF) translation are due to sliding between rigid bodies; however, the wear, backlash, and low precision are existing defects. For high-precision mechanism to overcome these limitations, a flexible bearing with 1-DOF translation in this paper is designed alternatively by the use of the concept of compliant mechanism because its motion replies on elastic elements. Besides, the fatigue strength, fracture, and crack are frequently appeared as mechanical failures due to high stress at the fixed end of flexible hinges. To reduce mechanical failures, experiments are conducted by an L27orthogonal array of the Taguchi multiple quality method to optimize design parameters, including an applied force and the length, width, thickness, and filleted radius of flexible hinges considering the stress concentration. The results demonstrate that the resulting stress of the new design flexible bearing is almost 99.7% smaller than that of the original design.

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