Abstract
Stackable mechanism architecture has demonstrated effective gravity-balancing over entire workspaces. Adjustable balancing is required when balancing is broken due to changing the payload at the distal end of a mechanism. In this paper, adjustable balancing of the stackable mechanism for a variable payload is investigated. For this, balancing conditions for three adjustable balancing methods are suggested, and a new balancing method combining a spring and counterweight is considered as an effective means of adjustable balancing for variable payloads. The excellent performance of the system is proven through experiments. Electromyography (EMG) sensors are employed to measure the amount of energy expenditure during the drilling task. It was verified through several tests that an operator holding a drill mounted at the distal end of a stackable arm felt less energy compared to an operator holding the drill directly in free space. The developed balancing arm was successfully applied during a mastoidectomy. A 3-step warning algorithm along with a braking function was found to be effective for safe surgery.
Highlights
Balancing mechanisms compensating for a gravity load play an important role in mechanical design in terms of energy efficiency
This paper mechanisms using both counterweights and springs have been proposed and used as a surgical mathematically analyzes the two balancing methods and proposes a new adjustable balancing technique platform for precise otologic surgery, we propose a unique design of a stackable mechanism for variable payloads
Our strategy of using a spring and counterweight is as follows: For the given nominal payload, springs are used for initial balancing, and counterweights are used to handle the variable payload at the distal end of the stackable mechanism
Summary
Balancing mechanisms compensating for a gravity load play an important role in mechanical design in terms of energy efficiency. Liu et al [12] designed a spatial 6-DOF decoupling parallel mechanism with static balancing using a counterweight and a spring. The open-loop stability, zero stiffness ensured static balancing over the entire workspace of the The variable the weight change the tool mounted at the distal mechanism. Mathematically analyzes the represents two balancing methods andof proposes a new adjustable This condition occurs when several tools with different weights are being used, depending on the technique for variable payloads. This paper mechanisms using both counterweights and springs have been proposed and used as a surgical mathematically analyzes the two balancing methods and proposes a new adjustable balancing technique platform for precise otologic surgery, we propose a unique design of a stackable mechanism for variable payloads. Both counterweights and asprings havebased been on proposed and used as a surgical platform for precise otologic surgery, we propose a unique design of a stackable mechanism for otologic surgery
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