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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January 2016
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Type Synthesis of 1R1T Remote Center of Motion Mechanisms Based on Pantograph Mechanisms
Huang Long,
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
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: huanglongmech@buaa.edu.cn
Search for other works by this author on:
Yang Yang,
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
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: yang_mech@126.com
Search for other works by this author on:
Xiao Jingjing,
Xiao Jingjing
School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: cleanriverjing@126.com
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: cleanriverjing@126.com
Search for other works by this author on:
Su Peng
Su Peng
School of Mechanical Engineering and Automation,
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: andry@163.com
Beihang University,
XueYuan Road No.37,
HaiDian District,
Beijing 100191, China
e-mail: andry@163.com
Search for other works by this author on:
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
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
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
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
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. Jan 2016, 138(1): 014501 (5 pages)
Published Online: November 16, 2015
Article history
Received:
May 14, 2015
Revised:
October 8, 2015
Citation
Long, H., Yang, Y., Jingjing, X., and Peng, S. (November 16, 2015). "Type Synthesis of 1R1T Remote Center of Motion Mechanisms Based on Pantograph Mechanisms." ASME. J. Mech. Des. January 2016; 138(1): 014501. https://doi.org/10.1115/1.4031804
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