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A new family of double-stage parallel mechanisms with movable RCM

Published online by Cambridge University Press:  10 December 2024

Xianhai Lv Open the ORCID record for Xianhai Lv [Opens in a new window] ,
Fan Ye ,
Kai Wang ,
Hao Sun  and
Yi Cao
Xianhai Lv
Affiliation:
School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu, China Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Wuxi, Jiangsu, China
Fan Ye
Affiliation:
School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu, China Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Wuxi, Jiangsu, China
Kai Wang
Affiliation:
School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu, China Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Wuxi, Jiangsu, China
Hao Sun
Affiliation:
School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu, China Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Wuxi, Jiangsu, China
Yi Cao*
Affiliation:
School of Mechanical Engineering, Jiangnan University, Wuxi, Jiangsu, China Laboratory of Advanced Food Manufacturing Equipment and Technology, School of Mechanical Engineering, Wuxi, Jiangsu, China
*
Corresponding author: Yi Cao; Email: caoyi@jiangnan.edu.cn
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Abstract

Remote center-of-motion (RCM) manipulators are a key issue in minimally invasive surgeries (MIS). The existing RCM parallel mechanisms (PMs) can only generate RCM motion based on the invariant RCM. To provide mobility for RCM, this paper designed a new family of RCM PMs with movable RCM that features a double-stage topological structure. Drawing mainly on configuration evolution and Lie-group, a general approach is proposed to design double-stage PMs with movable RCM. Feasible limbs for 2R1T RCM motion are enumerated and used to construct the secondary PM. Type synthesis of the primary PMs that realize movable RCM is accomplished based on the method presented. Different connection styles between the two stages that ensure the geometrical conditions of RCM motion are designed. Using different connection styles, double-stage PMs with movable RCM are constructed. These new RCM PMs can realize precise positioning of RCM by taking advantage of the primary PMs, which indicates their potential application prospects in MIS.

Keywords

parallel manipulatorstype synthesisLie-groupremote center-of-motion mechanismsdouble-stage

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 2 , February 2025 , pp. 638 - 661
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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