Static force balancing of a 2R1T parallel manipulator with remote center of motion

Abdullah Yasir, Gökhan Kiper, M. İ. Can Dede, Volkert van der Wijk

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

Abstract

Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respective planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not considered as an option due to constructional complexity. A hybrid solution as a combination of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formulations are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.
Original languageEnglish
Title of host publicationAdvances in Mechanism and Machine Science
Subtitle of host publicationProceedings of the 15th IFToMM World Congress on Mechanism and Machine Science
EditorsTadeusz Uhl
Place of PublicationCham, Switzerland
PublisherSpringer
Pages3219-3226
ISBN (Electronic)978-3-030-20131-9
ISBN (Print)978-3-030-20130-2
DOIs
Publication statusPublished - 2019
Event15th IFToMM World Congress on Mechanism and Machine Science
- Krakow, Poland
Duration: 30 Jun 20194 Jul 2019
Conference number: 15th

Publication series

NameMechanisms and Machine Science
Volume73
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

Conference15th IFToMM World Congress on Mechanism and Machine Science
Abbreviated titleIFToMM
CountryPoland
CityKrakow
Period30/06/194/07/19

Keywords

  • Static Balancing
  • Parallel Manipulator
  • Remote Center of Motion

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