Gravity compensation of A 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications
Aldanmaz, Ataol Behram, author.

Gravity compensation of A 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications

Aldanmaz, Ataol Behram, author.

Yazar Ek Girişi
Aldanmaz, Ataol Behram, author.

Fiziksel Tanımlama
viii, 56 leaves: charts;+ 1 computer laser optical disc.

In this work, gravity balancing of a 2URRR-URR parallel manipulator is issued. The manipulator is designed as an endoscope holder for minimally invasive transnasal pituitary gland surgery application. In the surgery, the endoscope is placed through the nostril of the patient where there is a natural path to the pituitary gland. In case of a motor failure, in order to protect the patient and to ease the control of the manipulator static balancing for this manipulator is worked out, the manipulator prototype is balanced and tested. The parallel manipulator has three legs. The payload mass has been distributed to side legs due to workspace limitations. By using counter-mass for two links in each leg, the center of mass of each leg has been reduced to the proximal link which simplified the balancing problem to balancing of a two degree-of-freedom inverted pendulum. By connecting a zero free length spring to the proximal link the total mass of the leg the manipulator has been kept in static balance in its desired workspace. Simulations show that with the applied design, torque effects on the motors have been reduced by 93.5%. Finally, the balancing solution is applied on the manipulator with active motors and the manipulator has been balanced, the torque values mostly has been decreased where the joint clearance, spring tension adjustments and mechanical constraints has affected the results. With the elimination of the joint clearance, mechanical constraints and rearranging the spring tension the required torque could be minimized.

Konu Başlığı
Manipulators (Mechanism).
Surgical robots.
Robotics in medicine

Yazar Ek Girişi
Artem, Hatice Seçil,
Dede, Mehmet İsmet Can,
Kilit, Özgür,

Tüzel Kişi Ek Girişi
İzmir Institute of Technology. Mechanical Engineering.

Tek Biçim Eser Adı
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).

Elektronik Erişim
Access to Electronic Versiyon.

LibraryMateryal TürüDemirbaş NumarasıYer NumarasıDurumu/İade Tarihi
IYTE LibraryTezT002390TJ211 .A35 2021Tez Koleksiyonu