Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper

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

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

2 Citations (Scopus)

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
CountryNetherlands
CityDelft
Period6/20/186/22/18

Fingerprint

Compliant mechanisms
Compliant Mechanism
Grasping
Grading
Nickel alloys
Shape memory effect
Titanium alloys
Titanium Alloy
Shape Memory
Materials properties
Nickel
Material Properties
Finite Element Model
Segmentation
Predict

All Science Journal Classification (ASJC) codes

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

Cite this

Jovanova, J., Nastevska, A., Frecker, M. I., & Aguirre, M. E. (2018). Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper. In J. L. Herder, & V. van der Wijk (Eds.), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings [8449868] (2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/REMAR.2018.8449868
Jovanova, Jovana ; Nastevska, Angela ; Frecker, Mary I. ; Aguirre, Milton E. / Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper. 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. editor / Just L. Herder ; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings).
@inproceedings{3b97795d4b8e45219b8cf94fc91ff7c6,
title = "Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper",
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.",
author = "Jovana Jovanova and Angela Nastevska and Frecker, {Mary I.} and Aguirre, {Milton E.}",
year = "2018",
month = "8",
day = "28",
doi = "10.1109/REMAR.2018.8449868",
language = "English (US)",
isbn = "9781538663806",
series = "2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
editor = "Herder, {Just L.} and {van der Wijk}, Volkert",
booktitle = "2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings",
address = "United States",

}

Jovanova, J, Nastevska, A, Frecker, MI & Aguirre, ME 2018, Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper. in JL Herder & V van der Wijk (eds), 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings., 8449868, 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018, Delft, Netherlands, 6/20/18. https://doi.org/10.1109/REMAR.2018.8449868

Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper. / Jovanova, Jovana; Nastevska, Angela; Frecker, Mary I.; Aguirre, Milton E.

2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. ed. / Just L. Herder; Volkert van der Wijk. Institute of Electrical and Electronics Engineers Inc., 2018. 8449868 (2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings).

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

TY - GEN

T1 - Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper

AU - Jovanova, Jovana

AU - Nastevska, Angela

AU - Frecker, Mary I.

AU - Aguirre, Milton E.

PY - 2018/8/28

Y1 - 2018/8/28

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=85053863827&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85053863827&partnerID=8YFLogxK

U2 - 10.1109/REMAR.2018.8449868

DO - 10.1109/REMAR.2018.8449868

M3 - Conference contribution

SN - 9781538663806

T3 - 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings

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

A2 - Herder, Just L.

A2 - van der Wijk, Volkert

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Jovanova J, Nastevska A, Frecker MI, Aguirre ME. Analysis of a Functionally Graded Compliant Mechanism Surgical Grasper. In Herder JL, van der Wijk V, editors, 2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings. Institute of Electrical and Electronics Engineers Inc. 2018. 8449868. (2018 International Conference on Reconfigurable Mechanisms and Robots, ReMAR 2018 - Proceedings). https://doi.org/10.1109/REMAR.2018.8449868