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.
Belfiore, N.P. (2019). A new concept compliant platform with spatial mobility and remote actuation. APPLIED SCIENCES, 9(19), 3966 [10.3390/app9193966].
A new concept compliant platform with spatial mobility and remote actuation
Nicola Pio Belfiore
2019-01-01
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
