Static Balancing Design of Linkage-Type Remote Center-of-Motion Mechanisms

• Main Authors: Hsu-Kai Tsai, 蔡旭凱
• Other Authors: Chin-Hsing KUO
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/95936614829959245326

碩士 === 國立臺灣科技大學 === 機械工程系 === 105 === Remote center-of-motion (RCM) mechanisms are a mechanism whose output link can always rotate around a fixed point, which is so called the “remote center-of-motion.” This kind of mechanisms commonly works in robotic minimally invasive surgery. On the other hand, static balancing is practically useful in many mechanical transmissions and robot arms. For surgical applications, it can be used to enhance surgical safety and assist manual reposition of the surgical tool. The current static balancing for RCM mechanisms, however, is rare; therefore, the aim of this thesis is to introduce the theories of static balancing into linkage-type RCM mechanisms. Accordingly, we have come up with three different design concepts including (1) pure spring, (2) pure counterweight, and (3) spring-and-counterweight balancing designs. We also use Adams simulation software to verify these design concepts.