Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/7159
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dc.contributor.authorYaşır, Abdullah-
dc.contributor.authorKiper, Gökhan-
dc.contributor.authorDede, Mehmet İsmet Can-
dc.contributor.authorVan der Wijk, Volkert-
dc.date.accessioned2019-07-11T07:05:38Z
dc.date.available2019-07-11T07:05:38Z
dc.date.issued2019en_US
dc.identifier.isbn978-3-030-20130-2
dc.identifier.issn2211-0984
dc.identifier.issn2211-0984-
dc.identifier.urihttps://link.springer.com/chapter/10.1007/978-3-030-20131-9_317
dc.identifier.urihttps://hdl.handle.net/11147/7159
dc.description.abstractAssistive 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.en_US
dc.description.sponsorshipTUBITAK MAG 116M272en_US
dc.language.isoenen_US
dc.publisherSpringer Verlagen_US
dc.relation.ispartofAdvances in Mechanism and Machine Science: IFToMM World Congress on Mechanism and Machine Scienceen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectStatic balancingen_US
dc.subjectParallel manipulatorsen_US
dc.subjectRemote center of motionen_US
dc.titleStatic force balancing of a 2R1T parallel manipulator with remote center of motionen_US
dc.typeConference Objecten_US
dc.authorid0000-0001-8793-724Xen_US
dc.authorid0000-0001-6220-6678en_US
dc.institutionauthorKiper, Gökhan-
dc.institutionauthorDede, Mehmet İsmet Can-
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume73en_US
dc.identifier.startpage3219en_US
dc.identifier.endpage3226en_US
dc.identifier.scopus2-s2.0-85067567543en_US
dc.relation.tubitakinfo:eu-repo/grantAgreement/TUBITAK/MAG/116M272
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.identifier.doi10.1007/978-3-030-20131-9_317-
dc.relation.doi10.1007/978-3-030-20131-9_317en_US
dc.coverage.doi10.1007/978-3-030-20131-9_317en_US
dc.identifier.scopusqualityQ4-
item.openairetypeConference Object-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.cerifentitytypePublications-
item.grantfulltextopen-
crisitem.author.dept03.10. Department of Mechanical Engineering-
crisitem.author.dept03.10. Department of Mechanical Engineering-
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
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