Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper

Jovana Jovanova, Angela Nastevska, Mary Frecker, Milton E. Aguirre

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

The focus of this paper is to explore the benefits of functional grading on the performance of a compliant mechanism surgical grasper currently pursuing commercialization. The compliant mechanism tool tip is analyzed to illustrate the potential of exploiting functionally graded superelastic behavior of Nickel Titanium alloy in high stress segments. A finite element model is used to predict grasping performance. Superelasticity is taken into consideration using a standard nonlinear shape memory alloy material model. To approximate functional grading, flexible elements within the compliant mechanism are segmented and material properties varied to explore the effect on grasping performance. Segmentation analyses show improvements in maximum stress with minimal compromise to grasping performance.

Original languageEnglish (US)
Title of host publication2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings
EditorsJust L. Herder, Volkert van der Wijk
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538663806
DOIs
StatePublished - Aug 28 2018
Event4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Delft, Netherlands
Duration: Jun 20 2018Jun 22 2018

Publication series

Name2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings

Other

Other4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018
Country/TerritoryNetherlands
CityDelft
Period6/20/186/22/18

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modeling and Simulation

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