Dual-triangular remote centre of motion mechanism with cable transmission

Shao Liu, Binbin Chen, Stephane Caro, Chao Chen

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The remote centre of motion (RCM) mechanisms are increasingly used to develop robotic surgical systems. Currently, parallelogram-based planar RCM mechanism are often combined with single revolute joint to deliver the two degrees of freedom (DOFs) required in the minimally-invasive surgical applications. However, parallelogram-based planar RCM mechanisms encounter issues associated with device footprint, which compromise optimal surgical functioning. The dual-triangular linkage (DT-linkage) with RCM is proposed in the attempt to replace the parallelogram-based linkageand resolve the footprint issue. This paper presents the work on the design and static analysis of cable basedauxiliary mechanism for DT-linkage. The aim is to achieve backlash-free and singularity-free mechanical constraint, such that the ROM of the original DT-linkage can be doubled without expanding the device footprint. A constraint approach is conducted to solve for the force within the cable sections. The analytical solution at singular configuration indicates tension in all cable sections hence proved the functioning of the cable constraint. By utilising the QR decomposition, the numerical solution of minimum required cable stiffness is also calculated from the constraint approach.
Original languageEnglish
Title of host publicationThe 4th Joint International Conference on Multibody System Dynamics (IMSD 2016)
Subtitle of host publicationMay 29 – June 2, 2016, Montreal, Canada [proceedings]
EditorsLaszlo Kovacs, Alfonso Callejo, Maxime Raison
PublisherMcGill University
Number of pages17
ISBN (Electronic)9780968282793
Publication statusPublished - 2016
EventJoint International Conference on Multibody System Dynamics 2016 - Montréal Quebec, Canada
Duration: 29 May 20162 Jun 2016
Conference number: 4th


ConferenceJoint International Conference on Multibody System Dynamics 2016
Abbreviated titleIMSD 2016
CityMontréal Quebec
Internet address

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