Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation

Terence Essomba; Wen Hsin Wang

doi:10.1007/978-3-031-45705-0_50

Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation

Terence Essomba, Wen Hsin Wang

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
Editors	Masafumi Okada
Publisher	Springer Science and Business Media B.V.
Pages	513-522
Number of pages	10
ISBN (Print)	9783031457043
DOIs	https://doi.org/10.1007/978-3-031-45705-0_50
State	Published - 2023
Event	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan Duration: 5 Nov 2023 → 9 Nov 2023

Publication series

Name	Mechanisms and Machine Science
Volume	147
ISSN (Print)	2211-0984
ISSN (Electronic)	2211-0992

Conference

Conference	16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
Country/Territory	Japan
City	Tokyo
Period	5/11/23 → 9/11/23

Keywords

Kinematics analysis
Reconfigurable mechanism
Remote center of motion
Spherical architecture

Access to Document

10.1007/978-3-031-45705-0_50

Cite this

Essomba, T., & Wang, W. H. (2023). Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation. In M. Okada (Ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1 (pp. 513-522). (Mechanisms and Machine Science; Vol. 147). Springer Science and Business Media B.V.. https://doi.org/10.1007/978-3-031-45705-0_50

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abstract = "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.",

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Essomba, T & Wang, WH 2023, Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation. in M Okada (ed.), Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. Mechanisms and Machine Science, vol. 147, Springer Science and Business Media B.V., pp. 513-522, 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023, Tokyo, Japan, 5/11/23. https://doi.org/10.1007/978-3-031-45705-0_50

Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation. / Essomba, Terence; Wang, Wen Hsin.
Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1. ed. / Masafumi Okada. Springer Science and Business Media B.V., 2023. p. 513-522 (Mechanisms and Machine Science; Vol. 147).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2023

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N2 - 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.

AB - 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.

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Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation

Abstract

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Keywords

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