A New Concept Compliant Platform with Spatial Mobility and Remote Actuation
Source abstract
Abstract
This paper presents a new tendon-driven platform with spatial mobility. The system can be obtained as a monolithic structure, and its motion is based on the concept of selective compliance. The latter contributes also to optimizing the use of the material by avoiding parasitic deformations. The presented platform makes use of lumped compliance with three different kinds of elastic joints. An analysis of the platform mobility based on finite element analysis is provided together with an assembly mode analysis of the equivalent pseudo-rigid body mechanism. Surgical operations in laparoscopic environments are the natural fields of applications for this device.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robotic Mechanisms and Dynamics · Soft Robotics and Applications · Piezoelectric Actuators and Control
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Engineering, University of Roma Tre, via della Vasca Navale 79, 00146 Rome, Italy
References (57)
Show source-provided references
1. A Platform with Six Degrees of Freedom10.1243/PIME_PROC_1965_180_029_02 ↗
2. Structural Kinematics of in-parallel-actuated Robot-Arms10.1115/1.3258540 ↗
3. Determination of the workspace of 6-DOF parallel manipulators10.1115/1.2912612 ↗
4. Singularity-free evolution from one configuration to another in serial and fully-parallel manipulators10.1115/1.2826679 ↗
5. Workspace and optimal design of a pure translation parallel manipulator10.1023/A:1010359523780 ↗
6. Structure synthesis of a class of 4-DoF and 5-DoF parallel manipulators with identical limb structures10.1177/0278364902021009314 ↗
7. Jacobian, manipulability, condition number, and accuracy of parallel robots10.1115/1.2121740 ↗
8. Dynamics and Control of Redundantly Actuated Parallel Manipulators10.1109/TMECH.2003.820006 ↗
9. Tang, X. (2014). An overview of the development for cable-driven parallel manipulator. Adv. Mech. Eng., 2014.10.1155/2014/823028 ↗
10. Connectivity and redundancy in spatial robots10.1177/02783640022068066 ↗
11. Distributed Databases for the development of Mechanisms Topology10.1016/S0094-114X(00)00020-3 ↗
12. Brief note on the concept of planarity for kinematic chains10.1016/S0094-114X(00)00021-5 ↗
13. Howell, L.L., Magleby, S.P., and Olsen, B.M. (2013). Handbook of Compliant Mechanisms, John Wiley and Sons.10.1002/9781118516485 ↗
14. Parametric deflection approximations for end-loaded, large-deflection beams in compliant mechanisms10.1115/1.2826101 ↗
15. A method for the design of compliant mechanisms with small-length flexural pivots10.1115/1.2919359 ↗
16. Isotropic compliance in the Special Euclidean Group SE(3)10.1016/j.mechmachtheory.2015.12.002 ↗
17. Verotti, M., and Belfiore, N.P. (2016). Isotropic compliance in E(3): Feasibility and workspace mapping. J. Mech. Robot., 8.10.1115/1.4032408 ↗
18. Review Article: Inventory of platforms towards the design of a statically balanced six degrees of freedom compliant precision stage10.5194/ms-2-157-2011 ↗
19. Stiffness Mapping for Parallel Manipulators10.1109/70.56657 ↗
20. Nguyen, C.C., Antrazi, S.S., and Zhou, Z.L. (1991, January 7–10). Analysis and implementation of a 6 DOF Stewart platform-based force sensor for passive compliant robotic assembly. Proceedings of the IEEE SOUTHEASTCON, Williamsburg, VA, USA.
21. Li, Y., and Xu, Q. (2005, January 15). Design and analysis of a new 3-DOF compliant parallel positioning platform for nanomanipulation. Proceedings of the 5th IEEE Conference on Nanotechnology, Nagoya, Japan.
22. A six-dof prismatic-spherical-spherical parallel compliant nanopositioner10.1109/TUFFC.2008.970 ↗
23. Chen, Q., Huang, Y., Zhu, D., and Zhou, M. (2010, January 29–31). The design and finite element analysis of a compliant 3-DOF spatial translational ultra-precise positioning platform. Proceedings of the IEEE International Conference on Intelligent Computing and Intelligent Systems, Xiamen, China.
24. Six-DOF micro-manipulator based on compliant parallel mechanism with integrated force sensor10.1016/j.rcim.2010.06.018 ↗
25. Liu, X.J., Wang, J., Gao, F., and Wang, L.P. (November, January 29). On the design of 6-DOF parallel micro-motion manipulators. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Maui, HI, USA.
26. Correa, J.C., and Crane, C. (2013). Kinematic analysis of a three-degree of freedom compliant platform. J. Mech. Des. Trans. ASME, 135.10.1115/1.4024085 ↗
27. Belfiore, N.P., Emamimeibodi, M., Verotti, M., Crescenzi, R., Balucani, M., and Nenzi, P. (2013, January 8–10). Kinetostatic optimization of a MEMS-based compliant 3 DOF plane parallel platform. Proceedings of the 9th International Conference on Computational Cybernetics, Tihany, Hungary.10.1109/ICCCyb.2013.6617600 ↗
28. Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform10.1007/s10439-018-2036-4 ↗
29. A grip force model for the da Vinci end-effector to predict a compensation force10.1007/s11517-014-1230-2 ↗
30. Pena, R., Smith, M.J., Ontiveros, N.P., Hammond, F.L., and Wood, R.J. (2018, January 1–5). Printing Strain Gauges on Intuitive Surgical da Vinci Robot End Effectors. Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Madrid, Spain.10.1109/IROS.2018.8594517 ↗
31. Balla, A., Quaresima, S., Ursi, P., Seitaj, A., Palmieri, L., Badiali, D., and Paganini, A.M. (2017). Hiatoplasty with crura buttressing versus hiatoplasty alone during laparoscopic sleeve gastrectomy. Gastroenterol. Res. Pract., 2017.10.1155/2017/6565403 ↗
32. Surgical treatment of gastrointestinal stromal tumors of the duodenum: A literature review10.21037/tgh.2018.09.04 ↗
33. Colovesical fistula: Review on conservative management, surgical techniques and minimally invasive approaches
34. Endoluminal loco-regional resection by TEM after R1 endoscopic removal or recurrence of rectal tumors10.3109/13645706.2016.1145125 ↗
35. Transanal Endocopic Microsurgery (TEM) in advanced rectal cancer disease treatment [Il ruolo della TEM nel trattamento dei tumori del retto extraperitoneale]
36. Nucleotide-guided mesorectal excision combined with endoluminal locoregional resection by transanal endoscopic microsurgery in the treatment of rectal tumors: Technique and preliminary results10.1007/s00464-013-3012-6 ↗
37. Comparison of outcomes following intersphincteric resection vs low anterior resection for low rectal cancer: A systematic review
38. Effect of initial curvature in uniform flexures on position accuracy10.1016/j.mechmachtheory.2017.08.021 ↗
39. Analysis of the center of rotation in primitive flexures: Uniform cantilever beams with constant curvature10.1016/j.mechmachtheory.2015.10.007 ↗
40. Sanò, P., Verotti, M., Bosetti, P., and Belfiore, N.P. (2018). Kinematic Synthesis of a D-Drive MEMS Device With Rigid-Body Replacement Method. J. Mech. Des. Trans. ASME, 140.10.1115/1.4039853 ↗
41. Verotti, M., Dochshanov, A., and Belfiore, N.P. (2017). Compliance Synthesis of CSFH MEMS-Based Microgrippers. J. Mech. Des. Trans. ASME, 139.10.1115/1.4035053 ↗
42. Botta, F., Verotti, M., Bagolini, A., Bellutti, P., and Belfiore, N.P. (2018). Mechanical response of four-bar linkage microgrippers with bidirectional electrostatic actuation. Actuators, 7.10.3390/act7040078 ↗
43. Veroli, A., Buzzin, A., Frezza, F., de Cesare, G., Hamidullah, M., Giovine, E., Verotti, M., and Belfiore, N.P. (2018). An approach to the extreme miniaturization of rotary comb drives. Actuators, 7.10.3390/act7040070 ↗
44. Bertini, S., Verotti, M., Bagolini, A., Bellutti, P., Ruta, G., and Belfiore, N.P. (2018). Scalloping and stress concentration in DRIE-manufactured comb-drives. Actuators, 7.10.3390/act7030057 ↗
45. Fabrication of Novel MEMS Microgrippers by Deep Reactive Ion Etching with Metal Hard Mask10.1109/JMEMS.2017.2696033 ↗
46. Belfiore, N.P. (2018). Micromanipulation: A challenge for actuation. Actuators, 7.10.3390/act7040085 ↗
47. Potrich, C., Lunelli, L., Bagolini, A., Bellutti, P., Pederzolli, C., Verotti, M., and Belfiore, N.P. (2018). Innovative silicon microgrippers for biomedical applications: Design, mechanical simulation and evaluation of protein fouling. Actuators, 7.10.3390/act7020012 ↗
48. Development of a NEMS-technology based nano gripper10.1007/978-3-319-61276-8_63 ↗
49. Di Giamberardino, P., Bagolini, A., Bellutti, P., Rudas, I.J., Verotti, M., Botta, F., and Belfiore, N.P. (2017). New MEMS tweezers for the viscoelastic characterization of soft materials at the microscale. Micromachines, 9.10.3390/mi9010015 ↗
50. Development of micro-grippers for tissue and cell manipulation with direct morphological comparison10.3390/mi6111451 ↗
51. Inverse kinetostatic analysis of compliant four-bar linkages10.1016/j.mechmachtheory.2013.06.008 ↗
52. Tsai, L.W. (1999). Robot Analysis: The Mechanics of Serial and Parallel Manipulators, John Wiley and Sons.
53. Hunt, K.H. (1979). Kinematic Geometry of Mechanisms, Oxford University Press.
54. Merlet, J.P. (2006). Parallel Robots, Springer. [2nd ed.].
55. Direct position analysis of the Stewart platform mechanism10.1016/0094-114X(90)90004-4 ↗
56. Closed-form solution of the direct kinematics of the 6-3 type Stewart Platform using one extra sensor10.1007/BF00426976 ↗
57. Howell, L.L. (2001). Compliant Mechanisms, John Wiley and Sons, Inc.