Research Papers

A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes

[+] Author and Article Information
Jianmin Li

e-mail: jimmyzhq@gmail.com

Guokai Zhang

e-mail: zhang_gk@tju.edu.cn
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China

Andreas Müller

Institute of Mechatronics,
Technical University Chemnitz,
Chemnitz 09126, Germany
e-mail: andreas.mueller@ifm-chemnitz.de

Shuxin Wang

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: shuxinw@tju.edu.cn

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received August 12, 2012; final manuscript received May 30, 2013; published online July 15, 2013. Assoc. Editor: Oscar Altuzarra.

J. Mech. Des 135(9), 091009 (Jul 15, 2013) (10 pages) Paper No: MD-12-1410; doi: 10.1115/1.4024848 History: Received August 12, 2012; Revised May 30, 2013

If a part of a mechanism is restrained to rotate about a point not physically belonging to it, the mechanism is called a remote center-of-motion (RCM) mechanism. The RCM mechanisms are generally designed especially for robot-assisted minimally invasive surgery (MIS) systems, for which great progress has been made in recent years. An RCM mechanism type synthesis method is proposed in this paper by generalizing the intersection of motion planes. The existence of such motion planes is the fundamental feature of the classic Sarrus mechanism, for instance. The basic principle of the type synthesis method is to combine some typical planar mechanisms where their respective motion planes are free to tilt. Hence, the intersection line varies as the planes tilt. There is one invariant point on this intersection line, however, and this is the RCM point. The proposed method is used to design a class of spatial RCM mechanisms. And the kinematic characteristics of them are presented in this paper. In particular, several fully parallel two degree-of-freedom (DOF) RCM mechanisms and a 1-DOF RCM mechanism are considered in detail. Two spatial 3-DOF overconstrained RCM mechanisms are also obtained by the proposed method.

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Fig. 1

The traditional Sarrus mechanism

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Fig. 2

Tilted straight-line motion

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Fig. 3

Tilted straight-line motion with ρ=90deg and ψ=25deg

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Fig. 4

General tilted straight-line motion

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Fig. 5

General tilted straight-line motion

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Fig. 6

Two movable planes with the intersection line passing through a fixed point

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Fig. 7

Some typical 3-DOF planar serial mechanisms

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Fig. 8

RCM mechanisms, the mechanisms (a), (b), and (d) have 2-DOF, and that in (c) has 1-DOF

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Fig. 9

Kinematic model of RCM mechanism shown in Fig. 8(b)

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Fig. 10

The relationship of ψ1 versus ψ2

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Fig. 11

The output characteristic of the mechanism

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Fig. 12

The bifurcated motion of the mechanism when β=45deg

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Fig. 13

Kinematic model of the RCM mechanism shown in Fig. 8(d)

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Fig. 14

3 DOF RCM mechanisms



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