@inproceedings{6b5c80e2bc2c479c8c2b43c9d82d0949,
title = "Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation",
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.",
keywords = "Kinematics analysis, Reconfigurable mechanism, Remote center of motion, Spherical architecture",
author = "Terence Essomba and Wang, {Wen Hsin}",
note = "Publisher Copyright: {\textcopyright} The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.; 16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 ; Conference date: 05-11-2023 Through 09-11-2023",
year = "2023",
doi = "10.1007/978-3-031-45705-0_50",
language = "???core.languages.en_GB???",
isbn = "9783031457043",
series = "Mechanisms and Machine Science",
publisher = "Springer Science and Business Media B.V.",
pages = "513--522",
editor = "Masafumi Okada",
booktitle = "Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1",
}