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)
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