Type Synthesis for Remote Center of Motion Mechanisms Based on Coupled Motion of Two Degrees-of-Freedom

2016 ◽  
Vol 138 (12) ◽  
Author(s):  
Yucheng He ◽  
Peng Zhang ◽  
Haiyang Jin ◽  
Ying Hu ◽  
Jianwei Zhang
Keyword(s):  
Minimally Invasive Surgery ◽  
Degrees Of Freedom ◽  
Synthesis Method ◽  
Type Synthesis ◽  
End Effector ◽  
Coupled Motion ◽  
New Family ◽  
Robot Systems ◽  
New Type ◽  
Application Prospects

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.

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Type Synthesis of 3-DOF Translational Parallel Manipulators Based on Atlas of DOF Characteristic Matrix

2006 ◽  
Author(s):  
Jingjun Yu ◽  
Jian S. Dai ◽  
Xin-Jun Liu ◽  
Shusheng Bi ◽  
Guanghua Zong
Keyword(s):  
System Theory ◽  
Lie Group ◽  
Synthesis Method ◽  
Parallel Manipulators ◽  
Complete Classification ◽  
Characteristic Matrix ◽  
Type Synthesis ◽  
Lie Group Theory ◽  
Low Degree ◽  
New Type

Low-degree-of-freedom (Low-DOF) parallel manipulators (PMs) have drawn extensive interest, particularly in type synthesis in which two main approaches were established in the reciprocal screw system theory and Lie group theory. This paper aims at proposing a new type synthesis method to complementing the above methods. For this purpose, the concept of the DOF characteristic matrix, originated from displacement subgroup and displacement submanifold, is proposed. A new but general approach based on the atlas of DOF Characteristic Matrix is addressed for both exhaustive classification and type synthesis of low-DOF PMs. Compared to the method based on Lie group, the proposed approach is prone to construct an orthogonal structure and easy to realize the complete classification and exhaustive enumeration of a class of low-DOF PM. In order to verify the effectiveness of the proposed method, type synthesis of Translational PMs (TPMs) particularly in ones with an orthogonal structure is performed, resulting in some novel orthogonal TPMs.

Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery

2017 ◽  
Vol 9 (3) ◽  
Author(s):  
Qinchuan Li ◽  
Jacques Marie Hervé ◽  
Pengcheng Huang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Load Capacity ◽  
Parallel Manipulators ◽  
New Family ◽  
In Series ◽  
Surgery First ◽  
Linear Actuators

Remote center-of-motion (RCM) parallel manipulators (PMs) are fit for robotized minimally invasive surgery (MIS). RCM PMs with fixed linear actuators have the advantages of high stiffness, reduced moving mass, and higher rigidity and load capacity. However, there are very few available architectures of these types of PMs. Using the Lie group algebraic properties of the set of rigid-body displacements, this paper proposes a new family of RCM PMs with fixed linear actuators for MIS. The general motion with a remote center has four degrees-of-freedom (DOF) and is produced by the in-series concatenation of a spherical S pair and a prismatic P pair and, therefore, is said to be SP equivalent. The SP-equivalent PMs can be used in minimally invasive surgery. First, the kinematic bonds of limb chains and their mechanical generators for SP-equivalent RCM PMs are presented. Limb chains with fixed linear actuators are then derived using the closure of products in subgroups. Structural conditions for constructing an SP-equivalent RCM PM with linear fixed actuators are revealed. Helical pairs are introduced to remove a local rotation and yield a 360-deg-rotation capability of the moving platform. Numerous new architectures with practical potential are presented.

Kinematics and synthesis of a type of mechanisms with multiple remote centers of motion

2014 ◽  
Vol 228 (18) ◽  
pp. 3430-3440 ◽  
Author(s):  
Guochao Bai ◽  
Duanling Li ◽  
Shimin Wei ◽  
Qizheng Liao
Keyword(s):  
Fixed Point ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Initial Condition ◽  
Kinetic Characteristics ◽  
New Type ◽  
The Relationship

Remote center of motion (RCM) mechanism, widely used as a wrist of minimally invasive surgery robot, is a kind of minor-mobility mechanism with part of it rotating around a fixed point distal from it. However, there is no physical revolute joint at that point. In this paper, kinematics of mechanisms with two remote centers of motion or multiple remote centers of motion (multi-RCM) are researched. The relationship between geometrics and kinetic characteristics of RCM mechanisms is found. Mechanisms with multi-loop kinematic chain are developed and are used to synthesize multiple RCM mechanisms. This type of dimension synthesis method proposed to design multi-RCM mechanisms just needs the initial condition of fixed positions of the frame and remote centers. A synthesis example and a potential application are presented. The synthesis method of multi-RCM mechanisms is effective in constructing new type of mechanisms.

Type Synthesis of a Family of 4-, 5- and 6-DOF Sea Lion Ball Mechanisms With Three Limbs

2015 ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Feng Gao
Keyword(s):  
Synthesis Method ◽  
Lower Limbs ◽  
The Novel ◽  
Type Synthesis ◽  
Sea Lion ◽  
End Effector ◽  
Motion Patterns ◽  
In Series ◽  
Rotational Motions ◽  
Sets Theory

In this paper, a family of novel mechanisms with three limbs is proposed. The novel family of mechanisms looks like a sea lion playing a ball therefore we called it the sea lion ball mechanism (SLBM). Its characteristics are described in detail below. The SLBM is composed of an upper part and a lower part connected together by three limbs in series. One of the most important advantages of SLBMs is that the translational and rotational motions are partially decoupled: the end-effector position is only determined by the inputs of the lower part, while the rotational angles are mainly determined by the inputs of the upper part. Then, the procedures for the type synthesis of SLBMs with three limbs are proposed based on the GF sets theory and the concept of virtual chain. Furthermore, according to the proposed procedure, 4-, 5- and 6-DOF SLBMs are investigated in terms of type synthesis based on a concept of upper-lower combination. The synthesis method of the upper limbs and lower limbs are presented. The PR and Pa joints are introduced to realize the functions of R and P joints to achieve more mechanisms. The six types kinematic limbs with 3T3R, 3T2R, 2T3R, 3T1R, 2T2R and 1T3R motion patterns of SLBMs are designed. Lastly, several novel 4-, 5- and 6-DOF SLBMs are proposed and sketched. The concept of the upper-lower combination may provide a new idea for type synthesis of decoupled parallel mechanism.

Force Analysis and Mechanical Design of a Novel 3-DOF Parallel Mechanism

2018 ◽  
Author(s):  
Dongsheng Zhang ◽  
Yundou Xu ◽  
Jiantao Yao ◽  
Yulin Zhou ◽  
Yongsheng Zhao
Keyword(s):  
Degrees Of Freedom ◽  
Mechanical Design ◽  
Synthesis Method ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Constraint Force ◽  
Hybrid Manipulator ◽  
Rotational Degrees Of Freedom ◽  
Motion Characteristics ◽  
Alternative Designs

Parallel mechanisms (PMs) with two rotational degrees-of-freedom (DOF) and one translational DOF (2R1T) have gained much attention in recent years. In this paper, different from type synthesis method, inner properties of PMs (motion characteristics, type of joints and arrangement way of joints) are used to deduce PMs; and two novel 3-DOF PMs are presented using this method. Aiming at 2UPU/SP PM, the constraint force/torque generated on the moving platform (MP) are analysed; here, P, U and S denote prismatic, universal and spherical joints, respectively. The driving force and the constraint force/torque are drawn, which show good distribution of the constraint wrench. After that, a novel 5-DOF hybrid manipulator is constructed on the basis of the 2UPU/SP PM; according to different demands, two alternative designs of the 5-DOF hybrid manipulator are presented. The study in this paper will enhance the research applications of the 2UPU/SP PM.

Design and modeling of a novel robotic arm with multiple-segment joints

2018 ◽  
Vol 233 (11) ◽  
pp. 3827-3836
Author(s):  
Hangfei Zhou ◽  
Zhuang Fu ◽  
Jian Fei ◽  
Zhen Yang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Single Port ◽  
Robotic Arm ◽  
Kinematic Modeling ◽  
End Effector

This paper presents a novel miniature robotic arm with four degrees of freedom and one end-effector. The two joints of the robotic arm are multiple-segment, which consist of several serial plates with tiny cavities. Kinematic modeling of the robotic arm has been completed for subsequent implementation. With multiple-segment joints, the robotic arm gets smooth, linear, and flexible property. Simulations and experiments show that the robot can be used in abdominal single-port minimally invasive surgery for its unique operation capability.

scholarly journals Research for a novel class of translational spatial multi-loop coupled mechanisms: Type synthesis and kinematic analysis

2018 ◽  
Vol 10 (8) ◽  
pp. 168781401879702 ◽  
Author(s):  
Shuang Zhang ◽  
Jingfang Liu ◽  
Huafeng Ding
Keyword(s):  
Kinematic Analysis ◽  
Degrees Of Freedom ◽  
Synthesis Method ◽  
Future Application ◽  
The Novel ◽  
Parallel Mechanisms ◽  
Type Synthesis ◽  
Split Method ◽  
New Synthesis ◽  
The Family

A novel type synthesis method for a class of spatial multi-loop coupled mechanisms with translational degrees of freedom is proposed in the paper. The novel class of spatial multi-loop coupled mechanisms has a stable topology layout which consists of three branches and three coupled chains. The basic idea of the new structural synthesis method lies at replacing the inputs of one mechanism by the outputs of another, thereby combining several mechanisms, where the topology split method for the topological layout and corresponding degree of freedom splitting principle are provided. The synthesis of the target mechanism is transformed into synthesis of corresponding serial and parallel mechanisms thereby, and a class of spatial multi-loop coupled mechanisms is synthesized. To validate the new synthesis method and to present a theoretical basis for future application, kinematic analysis of a single translational mobility (1T) spatial multi-loop coupled mechanism and a symmetrical two translational degrees of freedom (2T) spatial multi-loop coupled mechanism is performed. This article enriches the family of the spatial mechanisms for further instructing the study of spatial multi-loop coupled mechanisms.

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

2016 ◽  
Vol 8 (2) ◽  
Author(s):  
Rongfu Lin ◽  
Weizhong Guo ◽  
Feng Gao
Keyword(s):  
Mathematical Models ◽  
Degrees Of Freedom ◽  
Type Synthesis ◽  
Sea Lion ◽  
End Effector ◽  
Motion Patterns ◽  
Six Degrees Of Freedom ◽  
Rotational Motions ◽  
The Given ◽  
Actuated Joints

A family of novel mechanisms with three limbs called sea lion ball mechanisms (SLBMs) is investigated that looks like a sea lion playing with a ball. The SLBM-type mechanism is composed of an upper part and a lower part connected together by three limbs in parallel, and the translational and rotational motions are fully/partially decoupled. The end-effector position is determined by inputs of the lower part, while the posture is mainly determined by inputs of the upper part. First, two compositional principles are abstracted and the corresponding mathematical models are built for the SLBM-type mechanisms that the commutative feature of the SLBMs is found. Then, two type synthesis procedures containing five steps are proposed correspondingly. Following the procedure, a family of novel four, five, and six degrees-of-freedom (DOF) SLBM-type mechanisms is synthesized systematically. The motion patterns of the limbs are enumerated according to the given desired ones of the mechanisms and the limbs are synthesized correspondingly. Finally, several novel SLBM-type mechanisms are achieved by assembling the obtained limbs and selecting the actuated joints.

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