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Title: | Kinematic Design of a Non-Parasitic 2r1t Parallel Mechanism With Remote Center of Motion To Be Used in Minimally Invasive Surgery Applications | Authors: | Yaşır, Abdullah Kiper, Gökhan Dede, Mehmet İsmet Can |
Keywords: | Robotic manipulators Surgery applications Surgical robotics Parallel manipulator 2R1T mechanism Remote center of motion |
Publisher: | Elsevier Ltd. | Source: | Yaşır, A., Kiper, İ., Dede, M. İ. C. (2020). Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications. Mechanism and Machine Theory, 153. doi: 10.1016/j.mechmachtheory.2020.104013. | Abstract: | In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented. | URI: | https://doi.org/10.1016/j.mechmachtheory.2020.104013 https://hdl.handle.net/11147/9657 |
ISSN: | 0094-114X 1873-3999 |
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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