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Finite Element Analysis of Natural Frequencies and Mode Shapes of The da Vinci Medical Robot Arm


[ 1 ] Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ 2 ] Instytut Mechaniki Stosowanej, Wydział Inżynierii Mechanicznej, Politechnika Poznańska | [ S ] student | [ P ] employee

Scientific discipline (Law 2.0)

[2.8] Mechanical engineering

Year of publication


Published in

Vibrations in Physical Systems

Journal year: 2020 | Journal volume: vol. 31 | Journal number: no. 2

Article type

scientific article

Publication language


  • natural frequencies
  • mode shapes
  • finite elements method
  • medical robot arm

EN This paper presents an analysis of the natural frequency and mode shapes of the arm and the working tip of the da Vinci robot, which is used in various types of surgical procedures. The survey was conducted using Autodesk Fusion 360. Using the da Vinci robot's construction data, a model was designed taking into account the characteristic dimensions and materials used. The obtained shapes of vibrations for natural frequencies allowed us to predict the influence of resonance phenomenon on the manipulator's arm. The movement of the tool along the wrong track, caused by an increase in vibration amplitude, may adversely affect the operation of the device. The results of the conducted research, therefore, provide information for which natural frequencies the values of these amplitudes increase.

Pages (from - to)

2020205-1 - 2020205-8





Article Number: 2020205

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

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