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Technical Brief

Type Synthesis of 1R1T Remote Center of Motion Mechanisms Based on Pantograph Mechanisms

[+] Author and Article Information
Huang Long

School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: huanglongmech@buaa.edu.cn

Yang Yang

School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: yang_mech@126.com

Xiao Jingjing

School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: cleanriverjing@126.com

Su Peng

School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: andry@163.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received May 14, 2015; final manuscript received October 8, 2015; published online November 16, 2015. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 138(1), 014501 (Nov 16, 2015) (5 pages) Paper No: MD-15-1373; doi: 10.1115/1.4031804 History: Received May 14, 2015; Revised October 08, 2015

The remote center of motion (RCM) mechanism is an important component of a minimally invasive surgery (MIS) robot. The feature of the RCM mechanism is that the output link can rotate around a fixed point and translate along an axis which passes the point; however, there is no revolute joint at the fixed point. The 3R1T RCM mechanism, which meets all the degrees-of-freedom (DOF) requirements of arbitrary MIS tools, can be assembled through many methods. An effective method is combining a planar closed-loop 1R1T RCM mechanism and two revolute joints. In this paper, we present an approach to construct 1R1T RCM mechanisms from pantograph mechanisms. First, pantograph mechanisms are divided into seven classifications according to the geometric transformations they represent. The concept of rigid motion tracking mechanism (RMTM) is proposed by combining two equivalent pantograph mechanisms. Then, a novel type synthesis method for 1R1T RCM mechanisms is discussed in detail, and it shows that a 1R1T RCM mechanism can be constructed by assembling an RMTM and a 1R1T mechanism. By this method, several examples are constructed.

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References

Figures

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Fig. 1

Seven typical 2DOF pantograph mechanisms corresponding to each geometric transformation

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Fig. 2

Two types of connections: (a) connection RR and (b) connection RPR. Connection RR represents that the inverse image points and the image points are both connected by two links, respectively. Connection RPR represents that the inverse image points and the image points are connected by two RPR chains, respectively.

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Fig. 3

Processes of constructing RMTMs. (a) and (b) The processes of constructing RMTMs from translational and reflective pantograph mechanisms, respectively. (c) and (d) The processes of constructing RMTMs from scaling and rotational pantograph mechanisms, respectively.

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Fig. 4

Four planar 1R1T mechanisms. The mechanism (a) consists of two components and two joints, and both joints are actuated joints. The mechanism (b) is a five bar 2DOF mechanism, and link CD is the 1R1T link. In this mechanism, joint A and joint B are actuated joints. The mechanism (c) is constructed by a scaling pantograph mechanism, which satisfies: (1) AC/CE = AB/BG = GD/DE and (2) BCDG is a parallelogram. Due to the geometric relationships, revolute joints E, G, and A are actually collinear, thus link EF is the 1R1T link. In the mechanism, joint A and joint C are actuated joints. Mechanism (d) is constructed by an inverse mechanism, which satisfies: (1) AB = AD and (2) BC = CD = DF = FB. In the mechanism, C, F, and A are collinear, thus link CE is the 1R1T link. Joint A in link AB and joint A in link AD are actuated joints.

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Fig. 5

Processes of constructing 1R1T RCM mechanisms using RMTMs. (a) and (b) The processes of constructing 1R1T RCM mechanisms from translational and reflective RMTMs of connection RR, respectively. (c) and (d) The processes of constructing 1R1T RCM mechanisms from scaling and rotational RMTMs of connection RPR, respectively.

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Fig. 6

An example of 3R1T RCM mechanism: (a) processes of constructing a 3R1T RCM mechanism from pantograph mechanisms and (b) the corresponding prototype. The prototype consists of a rotating stage, a 1R1T RCM mechanism, and a spin module.

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