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Research Papers: Design of Mechanisms and Robotic Systems

Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom

[+] Author and Article Information
Yucheng He

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Shenzhen College of Advanced Technology,
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
The Chinese University of Hong Kong,
Shatin, Hong Kong 999077, China
e-mail: yc.he@siat.ac.cn

Peng Zhang

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
The Chinese University of Hong Kong,
Shatin, Hong Kong 999077, China
e-mail: zhangpeng@siat.ac.cn

Haiyang Jin

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
The Chinese University of Hong Kong,
Shatin, Hong Kong 999077, China
e-mail: hy.jin@siat.ac.cn

Ying Hu

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Shenzhen College of Advanced Technology,
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
The Chinese University of Hong Kong,
Shatin, Hong Kong 999077, China
e-mail: ying.hu@siat.ac.cn

Jianwei Zhang

Department of Informatics,
University of Hamburg,
Vogt-Koelln-Strasse 30,
Hamburg 22527, Germany
e-mail: zhang@informatik.uni-hamburg.de

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received February 2, 2016; final manuscript received July 15, 2016; published online September 13, 2016. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 138(12), 122301 (Sep 13, 2016) (11 pages) Paper No: MD-16-1096; doi: 10.1115/1.4034301 History: Received February 02, 2016; Revised July 15, 2016

Robots play an increasingly important role in the development of minimally invasive surgery (MIS). In MIS assistant robot systems, the remote center of motion (RCM) mechanism is a key component, and is the primary choice as end-effector for such systems. In this paper, first, we propose a new type of synthesis method for RCM mechanisms, which is based on the coupled motion of two DOFs to obtain new virtual center of motion (VCM) mechanisms, and then, through different combinations and configurations of VCM mechanisms, a new family of RCM mechanisms is achieved. Second, one of the obtained RCM mechanisms, which is deemed to have potential application prospects in MIS assistant robot, is investigated in detail, and a prototype is designed and fabricated to verify its feasibility. Finally, preliminary experiments are carried out on the prototype; the results show that, compared with existing ones, the new RCM mechanism's volume can be adjusted according to its required workspace, and it will be more compact when the required workspace is small. It will be an applicable option of end-effector for an MIS assistant robot.

Copyright © 2016 by ASME
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Figures

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Fig. 1

VCM mechanisms based on two-joint combination

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Fig. 2

VCM mechanism based on rotation and rotation coupling, the coupling mechanism is parallelogram mechanism

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Fig. 3

VCM mechanism based on rotation and translation coupling, the coupling mechanism is cam mechanism (when α = 0, L = L0)

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Fig. 4

VCM mechanism based on translation and rotation coupling, the coupling mechanism is cam mechanism (when α = 0, L = L0)

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Fig. 5

VCM mechanism based on translation and translation coupling, the coupling mechanism is cam mechanism

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Fig. 6

RCM mechanisms combined by two rotation and rotation coupling VCM mechanisms

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Fig. 7

RCM mechanisms combined by two rotation and translation coupling VCM mechanisms

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Fig. 8

RCM mechanisms combined by two translation and rotation coupling VCM mechanisms

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Fig. 9

RCM mechanisms combined by two translation and translation coupling VCM mechanisms

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Fig. 10

RCM mechanism based on different types VCM mechanisms combination

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Fig. 11

RCM mechanism obtained by combination of two rotation and translation coupling VCM mechanisms (configured in radial direction)

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Fig. 12

For different k values, the relationship of the input angle α and the output angle θ

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Fig. 13

For different k values, the relationship of link length L1 and input angle α (R1 = 100 mm)

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Fig. 14

For different k values, the maximum input angle and maximum output angle curves

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Fig. 15

Mechanical analysis of the cam mechanism

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Fig. 16

For different friction coefficient μ, the maximum input angle and output angle curves (k = 1.5, P2C2 = 151.2 mm, R2 = 126 mm refer to Sec. 4)

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Fig. 17

The completed 3D model of the RCM mechanism

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Fig. 18

The fabricated RCM mechanism prototype

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Fig. 19

The experimental system

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Fig. 20

The trajectory of the RCM mechanism tip (ten times test results are shown)

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Fig. 21

The comparison between the RCM prototype in this paper and the existing parallelogram RCM mechanism (the solid lines are used for the existing parallelogram RCM mechanism installed in horizontal direction and the dashed lines are used for the existing parallelogram RCM mechanism installed in vertical direction, assume that L = OO2 = OO1, R = OA)

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