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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September 2013
Research-Article
A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
Guokai Zhang,
Guokai Zhang
e-mail: zhang_gk@tju.edu.cn
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education,
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
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Andreas Müller,
Andreas Müller
Institute of Mechatronics,
e-mail: andreas.mueller@ifm-chemnitz.de
Technical University Chemnitz
,Chemnitz 09126
, Germany
e-mail: andreas.mueller@ifm-chemnitz.de
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Shuxin Wang
Shuxin Wang
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: shuxinw@tju.edu.cn
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: shuxinw@tju.edu.cn
Search for other works by this author on:
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,
Key Lab for Mechanism Theory and Equipment Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
Andreas Müller
Institute of Mechatronics,
e-mail: andreas.mueller@ifm-chemnitz.de
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,
e-mail: shuxinw@tju.edu.cn
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. Sep 2013, 135(9): 091009 (10 pages)
Published Online: July 15, 2013
Article history
Received:
August 12, 2012
Revision Received:
May 30, 2013
Citation
Li, J., Zhang, G., Müller, A., and Wang, S. (July 15, 2013). "A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes." ASME. J. Mech. Des. September 2013; 135(9): 091009. https://doi.org/10.1115/1.4024848
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