Please use this identifier to cite or link to this item:
https://hdl.handle.net/11147/11227
Title: | Partial gravity compensation of a surgical robot | Authors: | Maaroof, Omar Waleed Najm Saeed, Saad Zaghlul Dede, Mehmet İsmet Can |
Keywords: | Partial gravity compensation Particle swarm optimization Remote-center-of-motion mechanisms |
Issue Date: | 2021 | Publisher: | SAGE Publications Inc. | Abstract: | Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators. © The Author(s) 2021. | URI: | http://doi.org/10.1177/17298814211015481 https://hdl.handle.net/11147/11227 |
ISSN: | 1729-8806 |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
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File | Size | Format | |
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17298814211015481.pdf | 1.63 MB | Adobe PDF | View/Open |
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