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https://hdl.handle.net/11147/11227
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DC Field | Value | Language |
---|---|---|
dc.contributor.author | Maaroof, Omar Waleed Najm | - |
dc.contributor.author | Saeed, Saad Zaghlul | - |
dc.contributor.author | Dede, Mehmet İsmet Can | - |
dc.date.accessioned | 2021-11-06T09:23:34Z | - |
dc.date.available | 2021-11-06T09:23:34Z | - |
dc.date.issued | 2021 | - |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | http://doi.org/10.1177/17298814211015481 | - |
dc.identifier.uri | https://hdl.handle.net/11147/11227 | - |
dc.description.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. | en_US |
dc.description.sponsorship | The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: This work was supported by the Scientific and Technological Research Council of Turkey via grant number 115E726. | en_US |
dc.language.iso | en | en_US |
dc.publisher | SAGE Publications Inc. | en_US |
dc.relation.ispartof | International Journal of Advanced Robotic Systems | en_US |
dc.rights | info:eu-repo/semantics/openAccess | en_US |
dc.subject | Partial gravity compensation | en_US |
dc.subject | Particle swarm optimization | en_US |
dc.subject | Remote-center-of-motion mechanisms | en_US |
dc.title | Partial gravity compensation of a surgical robot | en_US |
dc.type | Article | en_US |
dc.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
dc.identifier.volume | 18 | en_US |
dc.identifier.issue | 3 | en_US |
dc.identifier.wos | WOS:000756002200001 | en_US |
dc.identifier.scopus | 2-s2.0-85107271004 | en_US |
dc.relation.publicationcategory | Makale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
dc.identifier.doi | 10.1177/17298814211015481 | - |
dc.authorscopusid | 55561100900 | - |
dc.authorscopusid | 57224222553 | - |
dc.authorscopusid | 55561029700 | - |
dc.identifier.scopusquality | Q2 | - |
item.grantfulltext | open | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.cerifentitytype | Publications | - |
item.openairetype | Article | - |
item.languageiso639-1 | en | - |
item.fulltext | With Fulltext | - |
crisitem.author.dept | 03.10. Department of Mechanical Engineering | - |
Appears in Collections: | Mechanical Engineering / Makina Mühendisliği Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection |
Files in This Item:
File | Size | Format | |
---|---|---|---|
17298814211015481.pdf | 1.63 MB | Adobe PDF | View/Open |
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