Spherical Reconfigurable Linkage for the Control of Mechanism Center of Rotation

Terence Essomba, Wen Hsin Wang

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

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.

原文???core.languages.en_GB???
主出版物標題Advances in Mechanism and Machine Science - Proceedings of the 16th IFToMM World Congress 2023—Volume 1
編輯Masafumi Okada
發行者Springer Science and Business Media B.V.
頁面513-522
頁數10
ISBN(列印)9783031457043
DOIs
出版狀態已出版 - 2023
事件16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023 - Tokyo, Japan
持續時間: 5 11月 20239 11月 2023

出版系列

名字Mechanisms and Machine Science
147
ISSN(列印)2211-0984
ISSN(電子)2211-0992

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???event.eventtypes.event.conference???16th International Federation of Theory of Machines and Mechanisms World Congress, IFToMM WC 2023
國家/地區Japan
城市Tokyo
期間5/11/239/11/23

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