Static Force Balancing of a 2R1T Parallel Manipulator with Remote Center of Motion

  • Abdullah Yaşır
  • Gökhan KiperEmail author
  • M. İ. Can Dede
  • Volkert van der Wijk
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respective planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not considered as an option due to constructional complexity. A hybrid solution as a combination of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formulations are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.


Static Balancing Parallel Manipulator Remote Center of Motion 


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This work is supported by The Scientific and Technological Research Council of Turkey via grant number 116M272.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Delft University of TechnologyDelftThe Netherlands
  2. 2.Izmir Institute of TechnologyGülbahçeTurkey

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