Please use this identifier to cite or link to this item: https://hdl.handle.net/11147/12076
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dc.contributor.authorAldanmaz, Ataol Behramtr
dc.contributor.authorAyit, Orhantr
dc.contributor.authorKiper, Gökhantr
dc.contributor.authorDede, Mehmet İsmet Cantr
dc.date.accessioned2022-05-20T07:47:37Z-
dc.date.available2022-05-20T07:47:37Z-
dc.date.issued2023-03-
dc.identifier.urihttps://hdl.handle.net/11147/12076-
dc.identifier.urihttps://doi.org/10.1017/S0263574722000534-
dc.description.abstractThis work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem to balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.en_US
dc.language.isoenen_US
dc.publisherCambridge University Pressen_US
dc.relationEndonazal Kafa Tabanı Ameliyatı için Endoskop Tutucu Olarak Kullanılacak, Kendinden Dengeli ve Uzak Hareket Merkezli Robot Manipülatörü Tasarımı (BalanScope)tr
dc.relation.ispartofRoboticaen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectSurgery applicationsen_US
dc.subjectRobotics in medicineen_US
dc.subjectComputer-assisted surgeryen_US
dc.subjectParallel manipulatorsen_US
dc.titleGravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications [Article]en_US
dc.typeArticleen_US
dc.authorid0000-0001-7516-1026en_US
dc.authorid0000-0002-1253-6764en_US
dc.authorid0000-0001-8793-724Xen_US
dc.authorid0000-0001-6220-6678en_US
dc.institutionauthorAldanmaz, Ataol Behramtr
dc.institutionauthorAyit, Orhantr
dc.institutionauthorKiper, Gökhantr
dc.institutionauthorDede, Mehmet İsmet Cantr
dc.departmentİzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume41-
dc.identifier.issue3-
dc.identifier.startpage807-
dc.identifier.endpage820-
dc.identifier.wosWOS:000797716100001en_US
dc.identifier.scopus2-s2.0-85148022623en_US
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanıtr
dc.identifier.doi10.1017/S0263574722000534-
dc.identifier.urlhttps://doi.org/10.1017/S0263574722000534-
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.contributor.affiliation01. Izmir Institute of Technologyen_US
dc.relation.issn0263-5747en_US
dc.relation.grantno219M483en_US
local.message.claim2022-06-15T14:27:59.217+0300|||rp00352|||submit_approve|||dc_contributor_author|||None*
dc.identifier.scopusqualityQ2-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
item.languageiso639-1en-
item.openairetypeArticle-
item.cerifentitytypePublications-
crisitem.author.dept03.10. Department of Mechanical Engineering-
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
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection
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