Several studies have shown that mechanisms with Remote Center of Motion (RCM) and the ability to displace their Center of Rotation (CoR) are very useful for some medical applications. But many mechanisms are unable to control their CoR without adding large and heavy linear platform. By the mean of reconfigurable mechanisms, the present study proposes a more compact, lighter and possibly cheaper alternative. A new concept of RCM mechanism with controllable CoR is designed based on an assembly of Spherical Reconfigurable Linkage (SRL) that control their radius. It is capable of moving its CoR on a plane with two linear Degrees of Freedom which are added to two angular ones. The model is derived to determine the kinematics of the CoR. Its kinematic analysis is performed and the velocity model is derived.
|Title of host publication
|Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
|Springer Science and Business Media B.V.
|Number of pages
|Published - 2023
|16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan
Duration: 5 Nov 2023 → 9 Nov 2023
|Mechanisms and Machine Science
|16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
|5/11/23 → 9/11/23
- Kinematics analysis
- Reconfigurable mechanism
- Remote center of motion
- Spherical architecture