On novel compliant mechanisms for remote center motion:

Prasanna S Gandhi; Rupesh S Bobade; Chao Chen

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On novel compliant mechanisms for remote center motion:

机译：关于用于远程中心运动的新颖兼容机制：

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This article presents the synthesis, parametric analysis with a semi-empirical model, and experimental validation of novel compliant remote center motion mechanisms with high cross-axis stiffnesses. The literature backs up ample use of rigid links in the synthesis of remote center motion mechanism in various applications. Compliant remote center motion mechanisms reported earlier are cable-driven mechanisms for endoscopy manipulation. On the contrary, in this article we propose spatial, compliant-link (leaf flexure link) remote center motion mechanisms (patent pending). Synthesis of the proposed compliant mechanism poses the main challenge of achieving precise remote center motion with prominent cross-axis stiffnesses. The proposed design is conceived using angularly assembled compliant links (with fixed–fixed boundary) which upon application of force undergo simultaneous twisting and bending resulting in the proposed remote center motion. Higher width as compared to the thickness along with angular arran...

机译：本文介绍了合成，具有半经验模型的参数分析以及具有高横轴刚度的新型顺应性远程中心运动机构的实验验证。文献支持在各种应用中在远程中心运动机制的合成中大量使用刚性链接。较早报道的合规远程中心运动机制是用于内窥镜操作的电缆驱动机制。相反，在本文中，我们提出了空间，顺应性链接（叶挠性链接）远程中心运动机制（正在申请专利）。所提出的柔顺机构的综合提出了实现具有明显的横轴刚度的精确的远程中心运动的主要挑战。拟议的设计是使用成角度组装的顺应连杆（具有固定边界的构想）构想的，该连杆在施加力时会同时发生扭曲和弯曲，从而导致拟议的远程中心运动。与厚度和角向排列相比，宽度更大。

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《Advances in Mechanical Engineering》 |2018年第4期|共11页
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Prasanna S Gandhi; Rupesh S Bobade; Chao Chen;
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中图分类机械、仪表工业;
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On novel compliant mechanisms for remote center motion:

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