| contributor author | Bazman | |
| contributor author | Merve;Yilmaz | |
| contributor author | Nural;Tumerdem | |
| contributor author | Ugur | |
| date accessioned | 2022-08-18T13:02:53Z | |
| date available | 2022-08-18T13:02:53Z | |
| date copyright | 2/15/2022 12:00:00 AM | |
| date issued | 2022 | |
| identifier issn | 1050-0472 | |
| identifier other | md_144_6_063303.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4287333 | |
| description abstract | In this paper, a novel four degrees-of-freedom (4DOF) articulated parallel forceps mechanism with a large orientation workspace (±90deg in pitch and yaw, 360deg in roll rotations) is presented for robotic minimally invasive surgery. The proposed 3RSR-1UUP parallel mechanism utilizes a UUP center leg that can convert thrust motion of the 3RSR mechanism into gripping motion. This design eliminates the need for an additional gripper actuator, but also introduces the problem of unintentional gripper opening/closing due to parasitic motion of the 3RSR mechanism. Here, position kinematics of the proposed mechanism, including the workspace, is analyzed in detail, and a solution to the parasitic motion problem is provided. Human-in-the-loop simulations with a haptic interface are also performed to confirm the feasibility of the proposed design. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | An Articulated Robotic Forceps Design With a Parallel Wrist-Gripper Mechanism and Parasitic Motion Compensation | |
| type | Journal Paper | |
| journal volume | 144 | |
| journal issue | 6 | |
| journal title | Journal of Mechanical Design | |
| identifier doi | 10.1115/1.4053465 | |
| journal fristpage | 63303-1 | |
| journal lastpage | 63303-12 | |
| page | 12 | |
| tree | Journal of Mechanical Design:;2022:;volume( 144 ):;issue: 006 | |
| contenttype | Fulltext | |
