ITEM METADATA RECORD
Title: WO 2014/108545 A1 - AN APPARATUS FOR GENERATING MOTION AROUND A REMOTE CENTRE OF MOTION
Authors: Vander Poorten, Emmanuel
Gijbels, Andy
Wouters, Niels
Issue Date: 17-Jul-2014
Abstract: Apparatus (10) for generating motion around a remote center of motion (RCM), comprising a distal link (L12, LR)managed to revolve about the remote center of motion and to translate through the remote center of motion, a proximal link (L10, LI) managed to revolve about a proximal center of motion (LCM), coupled to a base link, through a rotational joint (150) and a sliding joint (181), a first mechanism comprising a first link (L9, BE) pivotally coupled to the proximal link (L10) and to the distal link
(L12) and operable to transfer motion of the proximal link relative to the proximal center of motion to a motion of the distal link relative to the remote center of motion by maintaining a parallelogram (PARl), and a second mechanism operable to move the first link with two degrees of freedom in a plane parallel to the plane of motion of the proximal link, characterised in that the second mechanism comprises one link or a serial connection of links (L4, L8, L3, L7, L2, L6) connecting the base link to the first link, configured to have an orientation of instant motion which is different from an orientation of instant motion of the proximal link (LlO), relative to the base link.
Publication status: published
KU Leuven publication type: DI
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section
Division of Mechatronics, Biostatistics and Sensors (MeBioS)

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