A class of spatial remote center-of-motion mechanisms and its forward kinematics

运动学 计算机科学 机制(生物学) 平行四边形 机器人 约束(计算机辅助设计) 点(几何) 反向动力学 正向运动学 模拟 控制理论(社会学) 人工智能 数学 几何学 物理 控制(管理) 量子力学 经典力学
作者
Yuan Bian,Jianchang Zhao,Jinhua Li,Guowu Wei,Jianmin Li
出处
期刊:Robotica [Cambridge University Press]
卷期号:41 (3): 885-899
标识
DOI:10.1017/s0263574722001047
摘要

Abstract Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. A crucial challenge for developing a MIS robot is the kinematic design of the remote center-of-motion (RCM) mechanism. In this paper, a class of spatial RCM mechanism is analyzed. They are obtained by generating virtual parallelograms. The main process is to construct a line that passes through a fixed point under the mechanical constraint. The axis of the surgical tool is then constrained to parallel with that line. Hence, due to the geometrical feature of the parallel lines, the axis of the surgical tool will always pass through a fixed point, i.e., the RCM point. Due to the specially designed structure, the fixed point does not need to be physically belonging to the mechanism. The geometrical analysis method is employed to obtain the closed-form solution of the forward kinematics of the proposed mechanisms. Due to the high load capacity of parallel mechanism, the robots based on the proposed RCM mechanisms have promising applications as an external positioner to be used in robotic single-port surgeries.
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