State of the art in movement around a remote point:a review of remote center of motion in robotics  

作　　者：Wuxiang ZHANG Zhi WANG Ke MA Fei LIU Pengzhi CHENG Xilun DING 

机构地区：[1]School of Mechanical Engineering and Automation,Beihang University,Beijing 100191,China [2]Ningbo Institute of Technology,Beihang University,Ningbo 315832,China [3]Intelligent Aerospace Manufacturing Engineering Technology Co.,Ltd.,Beijing 100191,China

出　　处：《Frontiers of Mechanical Engineering》2024年第2期1-28,共28页机械工程前沿（英文版）

基　　金：supported in part by the National Key R&D Program of China(Grant No.2022YFB4701200);the Ningbo Key Projects of Science and Technology Innovation 2025 Plan of China(Grant No.2022Z070);the Zhejiang Provincial Natural Science Foundation of China(Grant No.LD22E050011);the Science Fund for Creative Research Groups of the National Natural Science Foundation of China(Grant No.T2121003);the National Natural Science Foundation of China(Grant No.52205003).

摘　　要：The concept of remote center of motion(RCM)is pivotal in a myriad of robotic applications,encompa-ssing areas such as medical robotics,orientation devices,and exoskeletal systems.The efficacy of RCM technology is a determining factor in the success of these robotic domains.This paper offers an exhaustive review of RCM technologies,elaborating on their various methodologies and practical implementations.It delves into the unique characteristics of RCM across different degrees of freedom(DOFs),aiming to distill their fundamental principles.In addition,this paper categorizes RCM approaches into two primary classifications:design based and control based.These are further organized according to their respective DOFs,providing a concise summary of their core methodologies.Building upon the understanding of RCM’s versatile capabilities,this paper then transitions to an in-depth exploration of its applications across diverse robotic fields.Concluding this review,we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications.This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

关 键 词：remote center of motion mechanism ROBOTICS medical robot orientation device EXOSKELETON 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]