文档介绍：Available online at hanism
and
Machine Theory
Mechanism and Machine Theory 43 (2008) 1585–1595
ate/mechmt
Classification and type synthesis of 1-DOF remote
center of motion mechanisms
Guanghua Zong, Xu Pei *, Jingjun Yu, Shusheng Bi
Robotics Institute, Beihang University, Beijing 100083, China
Received 2 February 2007; received in revised form 13 December 2007; accepted 23 December 2007
Available online 7 February 2008
Abstract
Type synthesis of 1-DOF remote center of motion (RCM) mechanisms is the preliminary for research on many multi-
DOF RCM mechanisms. Since types of existing RCM mechanisms are few, it is necessary to find an efficient way to create
more new RCM mechanisms. In this paper, existing 1-DOF RCM mechanisms are first classified, then base on a proposed
concept of the planar virtual center (VC) mechanism, which is a more generalized concept than a RCM mechanism, two
approaches of type synthesis for 1-DOF RCM mechanisms are addressed. One case is that a 1-DOF parallel or serial–par-
allel RCM mechanism can be constructed by assembling two planar VC mechanisms; the other case, a VC mechanism can
be expanded to a serial–parallel RCM mechanism. Concrete samples are provided accordingly, some of which are new
types.
Ó 2008 Elsevier Ltd. All rights reserved.
Keywords: Type synthesis; Remote center of motion; Parallel mechanism; Virtual center of motion
1. Introduction
A general mechanism is made up of parts and joints. If a part of the mechanism can rotate around a fixed
point distal from the mechanism, and there are no physical revolute joint at the fixed point, then this mech-
anism may be called a remote center of motion (RCM) mechanisms [1].
The RCM mechanisms are initially developed to position and manipulate tools or endoscopes in some min-
imally invasive surgery (MIS) or surgery robotic applications. During MIS, surgical tools or trocars (cm size)
pass through small incisions to reach the surgical site. The entry poi