The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal systems.The efficacy of RCM technology is a de...The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal systems.The efficacy of RCM technology is a determining factor in the success of these robotic domains.This paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical implementations.It delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental principles.In addition,this paper categorizes RCM approaches into two primary classifications:design based and control based.These are further organized according to their respective DOFs,providing a concise summary of their core methodologies.Building upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic fields.Concluding this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications.This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.展开更多
与串联机构相比,并联机构具有刚度好、精度高、结构稳定紧凑等优点,适用于外科手术领域。提出一种可用于微创手术本体结构的两转动一移动远中心运动(Remote Center of Motion,RCM)(5R)O C-URR并联机构,具有部分运动解耦特性。建立机构...与串联机构相比,并联机构具有刚度好、精度高、结构稳定紧凑等优点,适用于外科手术领域。提出一种可用于微创手术本体结构的两转动一移动远中心运动(Remote Center of Motion,RCM)(5R)O C-URR并联机构,具有部分运动解耦特性。建立机构位置分析模型,推导出机构位置逆解表达式;在此基础上,针对微创手术工作任务,定义机构期望工作空间。应用局部运动/力传递性能评价指标,给出机构期望工作空间内平均传递指标定义及计算方法。以平均传递指标最大化为目标,建立机构尺度参数约束优化模型,并应用加速灰狼优化(Accelerating Grey Wolf Optimization,AGWO)算法求解该问题。数值实例测试显示,AGWO算法求解约束优化问题的综合性能优于对比算法。机构优化设计结果表明,给出的优化模型和算法可行有效。研究结果为该机构的实际应用奠定了理论基础。展开更多
为利用机器人实现眼内手术操作所需的远程运动中心(Remote center of motion,RCM)运动模式,提出了一种新型六自由度混联机构(RP+PPRRP/PPRR)。首先受U副结构形式的启发,利用两组RPPRP平面五杆机构单元重构出PPRRP/PPRR并联构型。根据螺...为利用机器人实现眼内手术操作所需的远程运动中心(Remote center of motion,RCM)运动模式,提出了一种新型六自由度混联机构(RP+PPRRP/PPRR)。首先受U副结构形式的启发,利用两组RPPRP平面五杆机构单元重构出PPRRP/PPRR并联构型。根据螺旋理论计算该机构的自由度,并分析自由度性质,从而确认机构对RCM运动模式的兼容性。利用坐标变换方法建立机构的正运动学模型以及包含RCM参数(算法)的逆运动学模型。然后基于机构构型,设计、构建了物理样机。最后采用主从控制方式进行物理样机运动实验,验证运动学模型(算法)的正确性以及机构对眼内手术的适配性。展开更多
基金supported in part by the National Key R&D Program of China(Grant No.2022YFB4701200)the Ningbo Key Projects of Science and Technology Innovation 2025 Plan of China(Grant No.2022Z070)+2 种基金the Zhejiang Provincial Natural Science Foundation of China(Grant No.LD22E050011)the Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.T2121003)the National Natural Science Foundation of China(Grant No.52205003).
文摘The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal systems.The efficacy of RCM technology is a determining factor in the success of these robotic domains.This paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical implementations.It delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental principles.In addition,this paper categorizes RCM approaches into two primary classifications:design based and control based.These are further organized according to their respective DOFs,providing a concise summary of their core methodologies.Building upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic fields.Concluding this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications.This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.
文摘与串联机构相比,并联机构具有刚度好、精度高、结构稳定紧凑等优点,适用于外科手术领域。提出一种可用于微创手术本体结构的两转动一移动远中心运动(Remote Center of Motion,RCM)(5R)O C-URR并联机构,具有部分运动解耦特性。建立机构位置分析模型,推导出机构位置逆解表达式;在此基础上,针对微创手术工作任务,定义机构期望工作空间。应用局部运动/力传递性能评价指标,给出机构期望工作空间内平均传递指标定义及计算方法。以平均传递指标最大化为目标,建立机构尺度参数约束优化模型,并应用加速灰狼优化(Accelerating Grey Wolf Optimization,AGWO)算法求解该问题。数值实例测试显示,AGWO算法求解约束优化问题的综合性能优于对比算法。机构优化设计结果表明,给出的优化模型和算法可行有效。研究结果为该机构的实际应用奠定了理论基础。
文摘为利用机器人实现眼内手术操作所需的远程运动中心(Remote center of motion,RCM)运动模式,提出了一种新型六自由度混联机构(RP+PPRRP/PPRR)。首先受U副结构形式的启发,利用两组RPPRP平面五杆机构单元重构出PPRRP/PPRR并联构型。根据螺旋理论计算该机构的自由度,并分析自由度性质,从而确认机构对RCM运动模式的兼容性。利用坐标变换方法建立机构的正运动学模型以及包含RCM参数(算法)的逆运动学模型。然后基于机构构型,设计、构建了物理样机。最后采用主从控制方式进行物理样机运动实验,验证运动学模型(算法)的正确性以及机构对眼内手术的适配性。
