Structure, Kinematics, and Prototyping of a Parallel Manipulator with a Remote Center of Rotation-Reference-Cited by-同舟云学术

Structure, Kinematics, and Prototyping of a Parallel Manipulator with a Remote Center of Rotation

Published:2023-11-01 Issue:6 Volume: Page:54-61
ISSN:0235-7119
Container-title:Проблемы машиностроения и надежности машин
language:
Short-container-title:Problemy mašinostroeniâ i nadežnosti mašin

Author:

Glazunov V. A.¹,Laryushkin P. A.¹²,Shalyukhin K. A.¹

Affiliation:

1. Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN)

2. Bauman Moscow State Technical University

Abstract

A mechanism with a remote center of rotation, intended for use in medicine, and in particular, minimally invasive operations, is discussed. The basic mechanism consists of two parallelograms with common links, which allows the surgical instrument to duplicate the movement of the drive link of the mechanism. To ensure greater rigidity of the mechanism, it is proposed to introduce drive redundancy through the use of an additional RRR dyad with a drive pair. The position problem has been solved for the resulting mechanism. A 3D model and a prototype of the mechanism have been also presented.

Publisher

The Russian Academy of Sciences

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