Type Synthesis of 1R1T Remote Center of Motion Mechanisms

doi:10.3901/JME.2015.13.131

Abstract

Abstract: The remote center of motion (RCM) mechanism is an important component of a minimally invasive surgery (MIS) robot. Current research on RCM mechanisms rarely takes the translation of the mechanism into consideration. Usually a linear actuator is added to the end to realize the translation, which reduces the stiffness of the mechanism and occupies much space near the end-effector. An approach to construct 1R1T-RCM mechanisms from pantograph mechanisms is presented. Pantograph mechanisms are divided into seven classifications. The concept of the rigid motion tracking mechanism is proposed by combining two arbitrary equivalent pantograph mechanisms. On this basis, a novel type synthesis method for 1R1T-RCM mechanisms is introduced in detail, and it shows that a 1R1T-RCM mechanism can be constructed by assembling a rigid motion tracking mechanism and a 1R1T mechanism. Through this method, several examples are shown accordingly, some of which have compact structures and can be used in MIS robots.

Key words: pantograph mechanism, remote center of motion mechanism, rigid motion tracking mechanism, type synthesis

CLC Number:

TH112

HUANG Long, YANG Yang, SU Peng, XIAO Jingjing. Type Synthesis of 1R1T Remote Center of Motion Mechanisms[J]. Journal of Mechanical Engineering, 2015, 51(13): 131-136.

[1]	CHU Hongpeng, QI Bai, WANG Huiqi, QIU Xuesong, ZHOU Yulin. 6-DOF Wheeled Parallel Robot and Its Design Method [J]. Journal of Mechanical Engineering, 2023, 59(3): 46-53.
[2]	LI Yongquan, ZHENG Tianyu, JIANG Hongsheng, ZHANG Duo, ZHANG Lijie. Type Synthesis of New Kinematic Bifurcation Parallel Mechanism Based on Atlas Method [J]. Journal of Mechanical Engineering, 2022, 58(23): 1-17.
[3]	WEI Jun, JIA Weihan, LIU Chenglei, ZHANG Jianjun, HUANG Haijing, GUO Shijie. Type Synthesis of Reconfigurable Parallel Mechanisms for Ankle Rehabilitation with Completely Decoupled Actuated Limb [J]. Journal of Mechanical Engineering, 2022, 58(19): 45-56.
[4]	MENG Qizhi, XIE Fugui, ZHANG Sai, LIU Xinjun. Type Synthesis and Dimensional Optimization of a High-speed and High-acceleration Parallel Robot [J]. Journal of Mechanical Engineering, 2022, 58(13): 36-49.
[5]	LI Yongquan, JIANG Hongsheng, ZHENG Tianyu, JING Han, ZHANG Lijie. Type Synthesis of 3-translation Parallel Mechanism Based on Graphical Approach [J]. Journal of Mechanical Engineering, 2021, 57(23): 34-46.
[6]	WANG Sen, HAN Xueyan, LI Haotian, LI Haoran, LI Shihua. Research on Synthesis Method of a Loop Decoupling Two-rotation Parallel Mechanism with Large Load Bearing Capacity [J]. Journal of Mechanical Engineering, 2021, 57(21): 68-77.
[7]	YANG Donghao, CAO Wenao, DING Huafeng. Type Synthesis of a Family of Umbrella-shaped Deployable Mechanisms Based on New Two-layer and Two-loop Linkages [J]. Journal of Mechanical Engineering, 2020, 56(5): 150-160.
[8]	YU Jingjun, LIU Kai, KONG Xianwen. State of the Art of Multi-mode Mechanisms [J]. Journal of Mechanical Engineering, 2020, 56(19): 14-27.
[9]	LIU Chenglei, ZHANG Jianjun, QI Kaicheng, NIU Jianye, LI Weimin, GUO Shijie. Synthesis of Generalized Spherical Parallel Manipulations for Ankle Rehabilitation [J]. Journal of Mechanical Engineering, 2020, 56(19): 79-91.
[10]	MU Dejun, ZHANG Yitong, LI Yanwen, HU Bo, LU Wenjuan. Structural Parameters and Displacement Equation of 7-Bar Goldberg Mechanism [J]. Journal of Mechanical Engineering, 2020, 56(17): 82-90.
[11]	WANG Sen, LI Yanwen, CHEN Ziming, SONG Jiatao, LIANG Wenlong, ZHU Weiguo. Type Synthesis of Rehabilitation Mechanism of Variable Axis Bio-fusion Knee Joint [J]. Journal of Mechanical Engineering, 2020, 56(11): 72-79.
[12]	YANG Yandong, ZHEN Chunjiang, HOU Yulei, ZENG Daxing. Type Synthesis of Structural Symmetry One Degree-of-freedom of Helical Motion Parallel Mechanisms [J]. Journal of Mechanical Engineering, 2019, 55(3): 27-33.
[13]	LI Yongquan, ZHANG Yang, GUO Yu, LI Xuran, ZHANG Lijie. New Method for Type Synthesis of 2R1T Redundant Driven Parallel Mechanisms [J]. Journal of Mechanical Engineering, 2019, 55(23): 25-37.
[14]	ZHANG Xing, MU Dejun, ZHANG Yitong, LI Weiqi, WANG Hongrui. Type Synthesis of Multi-loop Mechanisms with Three Translational and One Rotational Displacement Parameters Based on Generalized Link Group [J]. Journal of Mechanical Engineering, 2019, 55(15): 154-162.
[15]	WANG Bing, FANG Yuefa. Type Synthesis of Metamorphic Parallel Mechanism with Spherical Five Bar Linkage [J]. Journal of Mechanical Engineering, 2018, 54(19): 18-26.

Type Synthesis of 1R1T Remote Center of Motion Mechanisms

PDF

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 15

Recommended Articles

Metrics

Comments