Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection

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Publisher: search.filters.publisher.SAGE Publications Inc.Subject: search.filters.subject.Particle swarm optimization

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  • 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.