Type synthesis of a class of parallel RCM manipulators based on concentric spherical surfaces geometric model

IF 4.5 1区工程技术 Q1 ENGINEERING, MECHANICAL

Mechanism and Machine Theory Pub Date : 2025-04-01 DOI:10.1016/j.mechmachtheory.2025.106011

Luquan Li , Chunxu Tian , Zhihao Xia , Dan Zhang

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引用次数: 0

Abstract

Leveraging the intuitiveness of a geometric model to describe motion, this study proposed a design method for a novel class of spatial parallel manipulators with remote center of motion (RCM) based on a concentric spherical surfaces geometric model. First, the topological structures of the parallel RCM manipulator are constructed by integrating the characteristics of the single-loop closed chain (SLCC), multi-degree of freedom (DOF) drive unit (DU), and RCM motion. Subsequently, a geometric model based on concentric spherical surfaces is developed to reveal the principle of generating RCM motion. Building on the concentric spherical geometric model, the general topological arrangements of the parallel RCM manipulators are proposed, while the key constraint conditions are determined. Then, a class of parallel RCM manipulators is systematically synthesized based on the Lie group. Based on the structural characteristics of this class of parallel RCM manipulators, a generalized assembly error model is built to analyze the impact of assembly errors on mechanism accuracy. Finally, the application and analysis of a parallel RCM manipulator are discussed.

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利用几何模型描述运动的直观性，本研究提出了一种基于同心球面几何模型的新型远程运动中心（RCM）空间并联机械手的设计方法。首先，通过整合单环闭合链（SLCC）、多自由度（DOF）驱动单元（DU）和 RCM 运动的特性，构建了并联 RCM 机械手的拓扑结构。随后，建立了一个基于同心球面的几何模型，以揭示产生 RCM 运动的原理。在同心球面几何模型的基础上，提出了并联 RCM 机械手的一般拓扑布置，并确定了关键约束条件。然后，基于李群系统地合成了一类并联 RCM 机械手。根据该类并联 RCM 机械手的结构特征，建立了广义装配误差模型，以分析装配误差对机构精度的影响。最后，讨论了并行 RCM 机械手的应用和分析。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechanism and Machine Theory 工程技术-工程：机械

CiteScore

9.90

自引率

23.10%

发文量

450

审稿时长

20 days

期刊介绍： Mechanism and Machine Theory provides a medium of communication between engineers and scientists engaged in research and development within the fields of knowledge embraced by IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, therefore affiliated with IFToMM as its official research journal. The main topics are: Design Theory and Methodology; Haptics and Human-Machine-Interfaces; Robotics, Mechatronics and Micro-Machines; Mechanisms, Mechanical Transmissions and Machines; Kinematics, Dynamics, and Control of Mechanical Systems; Applications to Bioengineering and Molecular Chemistry