Research on a novel RCM mechanism of surgical robot

In order to improve the operation accuracy and operation space of the robot, a new three DOF RCM mechanism is proposed. Based on the study of the advantages and disadvantages of the classical RCM mechanisms, a single parallelogram-single synchronous belt RCM mechanism with high positioning accuracy and good motion stability is designed. The D-H parameter method is used to establish the kinematic equation of the RCM mechanism, and the Monte Carlo method is used to solve the kinematic space of the mechanism, which presents an "Inverted Cone" shape. In order to improve the reverse drivability of the RCM mechanism, a kind of Spring-rope wheel gravity compensation method is proposed, and the compensation effect is verified to be 80% by Adams. A virtual operation simulation model is built in ADAMS to verify the high positioning accuracy and strong motion stability of the new RCM mechanism, and a solution method for the positioning accuracy and motion delay of the mechanism is proposed.