Mechanical Engineering / Makina Mühendisliği
Permanent URI for this collectionhttps://hdl.handle.net/11147/4129
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Conference Object Citation - Scopus: 11Structural Synthesis of 2r1t Type Mechanisms for Minimally Invasive Surgery Applications(Springer Verlag, 2018) Yaşır, Abdullah; Kiper, GökhanAssistive and operative manipulators allow easier and more precise operations for minimally invasive surgery. Such manipulators often have a pivot point at the incision port on the pa-tient’s body, so the manipulator should have a remote center of motion. This study presents the structural synthesis of a non-parasitic 3-dof manipulator with 2R1T motion pattern to be used as a remote center of motion mechanism for minimally invasive surgery applications. The manipulators of various kinematic structure are evaluated considering criteria such as possibility of construction of the mechanism for remote center of motion, ease of dynamic balancing, number of links, structural symmetry, the number of actuators connected to the base and decoupling of the joint inputs and the output motion of the platform.Article Citation - WoS: 15Citation - Scopus: 20Structural Synthesis of Euclidean Platform Robot Manipulators With Variable General Constraints(Elsevier Ltd., 2008) Alizade, Rasim; Can, Fatih Cemal; Gezgin, ErkinIn this paper, new method for structural synthesis of Euclidean platform robot manipulators with variable general constraints (EPRM) is presented. Three dimensional motion of the base moving platform is generated by the motion of dyads on the Euclidean planes. Each dyad is connected to the moving base platform by universal, spherical or spherical in torus (St) kinematic pairs. This allows solving the structural synthesis of Euclidean robot manipulators with various DoF and different platform motions. New structural formulations with variable general constraints for the platform motion and the mobility of robot manipulators are presented. The new structural classification of simple structural groups with variable general constraints including platforms, hinges, legs and branch loops from different subspaces and space is also introduced. Moreover, new method for structural synthesis of serial, parallel and serial-parallel EPRM is illustrated along with examples. © 2007 Elsevier Ltd. All rights reserved.Article Citation - WoS: 52Citation - Scopus: 61Structural Synthesis of Parallel Manipulators(Elsevier Ltd., 2004) Alizade, Rasim; Bayram, ÇağdaşIn this paper, structural synthesis and classification of parallel manipulators are considered. Parallel manipulators are classified according to their platform type(s) and connections between them. New and revised methods and formulations for designing variety of parallel manipulators with single and multiple platforms are presented along with examples.