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.
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December 2016
Research-Article
Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom
Yucheng He,
Yucheng He
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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;
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Search for other works by this author on:
Peng Zhang,
Peng Zhang
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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Haiyang Jin,
Haiyang Jin
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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Ying Hu,
Ying Hu
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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;
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Search for other works by this author on:
Jianwei Zhang
Jianwei Zhang
Department of Informatics,
University of Hamburg,
Vogt-Koelln-Strasse 30,
Hamburg 22527, Germany
e-mail: zhang@informatik.uni-hamburg.de
University of Hamburg,
Vogt-Koelln-Strasse 30,
Hamburg 22527, Germany
e-mail: zhang@informatik.uni-hamburg.de
Search for other works by this author on:
Yucheng He
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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;
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Peng Zhang
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Haiyang Jin
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Ying Hu
Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
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;
University of Chinese Academy of Sciences,
1068 Xueyuan Avenue,
Shenzhen University Town,
Shenzhen 518055, China;
Jianwei Zhang
Department of Informatics,
University of Hamburg,
Vogt-Koelln-Strasse 30,
Hamburg 22527, Germany
e-mail: zhang@informatik.uni-hamburg.de
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. Dec 2016, 138(12): 122301 (11 pages)
Published Online: September 13, 2016
Article history
Received:
February 2, 2016
Revised:
July 15, 2016
Citation
He, Y., Zhang, P., Jin, H., Hu, Y., and Zhang, J. (September 13, 2016). "Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom." ASME. J. Mech. Des. December 2016; 138(12): 122301. https://doi.org/10.1115/1.4034301
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