Please use this identifier to cite or link to this item:
Title: Static force balancing of a 2R1T parallel manipulator with remote center of motion
Authors: Yaşır, Abdullah
Kiper, Gökhan
Dede, Mehmet İsmet Can
Van der Wijk, Volkert
Keywords: Static balancing
Parallel manipulators
Remote center of motion
Issue Date: 2019
Publisher: Springer Verlag
Abstract: Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respec-tive planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not consid-ered as an option due to constructional complexity. A hybrid solution as a combi-nation of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formula-tions are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.
ISBN: 978-3-030-20130-2
ISSN: 2211-0984
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Files in This Item:
File Description SizeFormat 
7159.pdfConference Paper417.49 kBAdobe PDFThumbnail
Show full item record

CORE Recommender

Page view(s)

checked on Jan 17, 2022


checked on Jan 17, 2022

Google ScholarTM



Items in GCRIS Repository are protected by copyright, with all rights reserved, unless otherwise indicated.