Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7148

Browse

Filters

20211

Settings

Author: search.filters.author.Dede, Mehmet İsmet CanSubject: search.filters.subject.Particle swarm optimization

Search Results

Now showing 1 - 1 of 1
  • Article
    Citation - WoS: 8
    Citation - Scopus: 14
    Partial Gravity Compensation of a Surgical Robot
    (SAGE Publications Inc., 2021) Maaroof, Omar Waleed Najm; Dede, Mehmet İsmet Can; Saeed, Saad Zaghlul; Dede, Mehmet İsmet Can; 03.10. Department of Mechanical Engineering; 03. Faculty of Engineering; 01. Izmir Institute of Technology
    Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators. © The Author(s) 2021.