Development of a 2-DOF Singularity-Free Spherical Parallel Remote Center of Motion Mechanism With Extensive Range of Motion
Journal
IEEE Robotics and Automation Letters
Journal Volume
9
Journal Issue
6
Start Page
5663
End Page
5670
ISSN
2377-3766
2377-3774
Date Issued
2024-06-01
Author(s)
Chun Liu
DOI
10.1109/LRA.2024.3396113
Abstract
In this letter, we report the development of an innovative two-degrees-of-freedom (2-DOF) spherical parallel remote center of motion mechanism (SPRCMM), which can offer a wide range of movement in both DOFs without encountering singularities. To facilitate the design process, the letter briefly reviews the existing spherical joints, including serial and parallel structures with and without the remote center of motion (RCM). Aiming at combining the advantages of these existing spherical joints, this letter proposes a novel design that utilizes the parallelogram mechanism to form a parallel RCM mechanism without using universal or spherical joints. Forward and inverse kinematics were constructed using the product of the exponentials. Moreover, space and closed Jacobians were derived, accompanied by manipulability in the available workspace for the mechanism. The prototype of the 2-DOF SPRCMM was built and experimentally evaluated. The experimental results confirm that the singularity-free motion of the two DOFs of the mechanism in a wide range is feasible, and the root mean squared errors in the trajectory tracking of the mechanism in most states were less than 10% of the motion range.
Subjects
2-DOF
parallelogram mechanism
remote center of motion (RCM)
singularity-free
spherical parallel mechanism (SPM)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Type
journal article