Hostname: page-component-78c5997874-v9fdk Total loading time: 0 Render date: 2024-11-10T17:41:49.488Z Has data issue: false hasContentIssue false
  • English
  • Français

Design of a compensation mechanism for an active cardiacstabilizer based on an assembly of planar compliant mechanisms

Published online by Cambridge University Press:  22 April 2014

L. Rubbert ,
P. Renaud ,
S. Caro  and
J. Gangloff
L. Rubbert*
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
P. Renaud
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
S. Caro
Affiliation:
IRCCyN, CNRS, École Centrale de Nantes, France
J. Gangloff
Affiliation:
ICube, CNRS, INSA de Strasbourg, Université de Strasbourg, France
*
a Corresponding author:lennart.rubbert@epfl.ch
Get access

Abstract

In this paper we present the design of a compact active cardiac stabilizer based onplanar compliant mechanisms and piezoelectric actuators. Considering an assembly of planarmanufactured structures helps to simplify the manufacturing process and may increase thecompactness. Parallel architectures constitute interesting solutions for their intrinsicstiffness properties, but in a planar configuration parallel manipulators often exhibitkinematic singularities. Two design approaches for planar parallel compliant mechanismsare presented in this paper. One design approach consists in designing a passive compliantmechanism in a configuration close to the singularity by introducing some asymmetriesduring the manufacturing process. The second design approach consists in taking advantageof the singularities of parallel manipulators to obtain non-trivial solutions. The newproposed active stabilizer, composed of planar compliant mechanisms, is introduced and itsperformances are discussed.

Keywords

Compliant mechanismactive cardiac stabilizermechanism designparallel architecturekinematic singularityGuidages flexiblesstabilisateur cardiaque actifconception de mécanismesarchitecture parallèlesingularité cinématique
Type
Research Article
Information
Mechanics & Industry , Volume 15 , Issue 2 , 2014 , pp. 147 - 151
Copyright
© AFM, EDP Sciences 2014

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

D.Y. Choi, C.N. Riviere, Flexure-based manipulator for active handled microsurgical instrument, in Proceedings of the 27th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2005, pp. 2325–2328
Kota, S., Lu, K.-J., Kreiner, Z., Trease, B., Arenas, J., Geiger, J., Design and application of compliant mechanisms for surgical tools, J. Biomech. Eng. 127 (2005) 981–989 Google ScholarPubMed
Bachta, W., Renaud, P., Laroche, E., Gangloff, J., The cardiolock project: Design of an active cardiac stabilizer for cardiac surgery, ASME J Mech. Des. 133 (2011) 1–10 CrossRefGoogle Scholar
Jacobsen, J.O., Winder, B.G., Howell, L.L., Magleby, S.P., Lamina emergent mechanisms and their basic elements, J Mech. Robot. 2 (2010) 011003 CrossRefGoogle Scholar
Parise, J.J., Howell, L.L., Magleby, S.P., Ortho-planar linear-motion springs, Mech. Mach. Theory 36 (2001) 1281–1299 CrossRefGoogle Scholar
L.L. Howell, Compliant Mechanism, Wiley-IEEE (2001)
Gosselin, C., Angeles, J., Singularity analysis of closed-loop kinematic chains, IEEE Trans. Robot. Automat. 6 (1990) 281–290 CrossRefGoogle Scholar
Gosselin, C.M., St-Pierre, E., Development and experimentation of a fast 3-dof camera-orienting device, Int. J. Rob. Res. 16 (1997) 619–630 CrossRefGoogle Scholar
Bonev, I.A., Gosselin, C.M., Analytical determination of the workspace of symmetrical spherical parallel mechanisms, IEEE Trans. Robot. 22 (2006) 1011–1017 CrossRefGoogle Scholar
Jacobsen, J.O., Chen, G., Howell, L.L., Magleby, S.P., Lamina emergent torsional (let) joint, Mech. Mach. Theory 44 (2009) 2098–2109 CrossRefGoogle Scholar
L. Rubbert, P. Renaud, J. Gangloff, Design and optimization for a cardiac active stabilizer based on planar parallel compliant mechanism, In Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis, 2012
Y. Qin, J.S. Dai, Forward displacement analysis of two foldable 3us parallel mechanisms, In: Jian S Dai, Matteo Zoppi, and Xianwen Kong (eds.), Advances in Reconfigurable Mechanisms and Robots I, Springer London, 2012, pp. 805–814.
D. Chapuis, R. Gassert, L. Sache, E. Burdet, H. Bleuler, Design of a simple mri/fmri compatible force/torque sensor, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 3 (2004) 2593–2599
P. Renaud, M. de Mathelin, Kinematic analysis for a novel design of mri-compatible torque sensor, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009, pp. 2640–2646
L. Rubbert, S. Caro, P. Renaud, J. Gangloff, A planar compliant mechanism with rrp mobilities based on the singularity analysis of a 3-us parallel mechanism, in Latest Advances in Robot Kinematics, Advances in Robot Kinematics series, Dordrecht Springer, 2012, pp. 381–388
Gosselin, C.M., Kinematische und statische analyse eines ebenen parallelen manipulators mit dem freiheitsgrad zwei: Kinematic and static analysis of a planar two-degree-of-freedom parallel manipulator, Mech. Mach. Theory 31 (1996) 149–160 CrossRefGoogle Scholar