Mechanical performance evaluation on Compliant RCM joint architectures
1.37Stiffness Anisotropy (PAR)Off-axis compliant joint (optimized)
Evaluation results
| Method | Links | ||
|---|---|---|---|
| Off-axis compliant joint (optimized)Description=Starting from the Tetra II architecture, the geometry is optimized, via feasibility analysis, to reduce parasitic motion while maintaining near-isotropic stiffness., Key features=Near-isotropic stiffness with minimal peak parasitic error2026.03 | 1.37 | 0.172 | |
| Dual-joint compliant mechanismDescription=Two identical off-axis joints are connected in series to reduce parasitic RCM displacement and improve stiffness isotropy., Key features=Stiffness anisotropy is reduced with a lower peak parasitic error2026.03 | 1.55 | 0.051 | |
| Off-axis compliant mechanism (unoptimized)Description=The EE holder is shifted from the center of the tetrahedral structure to a lateral (off-axis) position to improve surgical accessibility., Key features=Stiffness is highly anisotropic and the peak parasitic error is relatively high2026.03 | 21.63 | 1.1 |