Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
Permanent URI for this collectionhttps://hdl.handle.net/11147/7148
Browse
Search Results
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.Conference Object Citation - WoS: 6Citation - Scopus: 3A Geometrical Approach for the Singularity Analysis of a 3-Rrs Parallel Manipulator(Springer Verlag, 2018) Tetik, Halil; Kiper, GökhanIdentifying singularity manifolds of parallel manipulators analytically is a hard task due to their complex kinematics and passive joints. This study proposes to use the geometrical conditions of singularities in order to identify the singularity manifolds for a 3-RRS parallel manipulator. The singularity surfaces for both inverse and forward kinematics singularities are obtained and plotted.