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Table 7 Output force and torque of each joint

From: Proof of concept for a wrist mechanism for articulated forceps for use in robot-assisted laparoscopic surgery

Axis no.

Experiment data

Calculated value from maximum motor torque and measured efficiency

Force (N)

Torque (mNm)

Force (N)

Torque (mNm)

1st axis

6.9

138.6

6.6

132.4

2nd axis

5.1

71.4

5.9

82.6

3rd axis

5.0

70.0

5.4

75.0