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

V. A. Glazunov; Глазунов В. А.; P. A. Laryushkin; Ларюшкин П. А.; K. A. Shalyukhin; Шалюхин К. А.

doi:10.31857/S0235711923060081

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

Authors: Glazunov V.A.¹, Laryushkin P.A.¹^,2, Shalyukhin K.A.¹
Affiliations:
1. Mechanical Engineering Research Institute of the Russian Academy of Sciences (IMASH RAN)
2. Bauman Moscow State Technical University
Issue: No 6 (2023)
Pages: 54-61
Section: НОВЫЕ ТЕХНОЛОГИИ В МАШИНОСТРОЕНИИ
URL: https://journals.rcsi.science/0235-7119/article/view/162325
DOI: https://doi.org/10.31857/S0235711923060081
EDN: https://elibrary.ru/EEZOEA
ID: 162325

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Abstract
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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.

Keywords

parallel structure mechanisms, mechanisms with a remote center of rotation, drive redundancy, special positions, motion controller

References

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