Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7159
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.
URI: https://link.springer.com/chapter/10.1007/978-3-030-20131-9_317
https://hdl.handle.net/11147/7159
ISBN: 978-3-030-20130-2
ISSN: 2211-0984
2211-0984
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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