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ARTICLE
Comparative analysis of RCM mechanisms based on parallelogram used in surgical robots for laparoscopic minimally invasive surgery
1
Bialystok University of Technology, Department of Automatic Control and Robotics, Bialystok, Poland
Submission date: 2018-11-04
Acceptance date: 2020-02-24
Online publication date: 2020-10-15
Publication date: 2020-10-15
Journal of Theoretical and Applied Mechanics 2020;58(4):911-925
KEYWORDS
ABSTRACT
This article presents results of comparative analysis of kinematics and dynamics of five
varieties of the parallelogram-based RCM mechanism applied in real-life designs of surgical
robots. Analyses were conducted using ANSYSWorkbench v. 16.2. Obtained results allow for
formulation of guidelines concerning conscious selection of the form of the RCM mechanism
and assessment of its usefulness from the perspective of application in new solutions of
laparoscopic surgical robots.
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| eISSN: | 2543-6309 |
| ISSN: | 1429-2955 |
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