遠端運動中心(Remote Center of Motion, RCM)為遠端一虛擬的固定點，而RCM機構的輸出桿在運動範圍內的任意位置皆繞 RCM旋轉、或滑動軸線通過 RCM。本研究提出六連桿與八連桿RCM機構圖譜，並以系統化的方式簡化現有構型設計較繁雜的問題。透過創意性機構設計法(Creative Mechanism Design Methodology)，由特殊化與具體化步驟得到 8 種可行的遠端運動中心機構，再以極心線法(Centrode Method)證明此圖譜生成之構型具遠端運動中心特性。RCM位置與尺寸參數設計可藉由調整桿件長度與多接頭桿角度，形成偏移RCM機構。此外，利用靜平衡機構之能量法則推導遠端運動中心機構的彈簧常數關係式，並可對應多種彈簧安裝位置。應用此圖譜產生的RCM機構，本研究提出三種不同的設計實例，其一為姿態轉換輔具機構，將遠端運動中心分別與髖關節和膝關節重合，避免輔具在躺臥、坐起、站立的姿態轉換過程中對人體造成壓迫。藉由SOLIDWORKS和ADAMS軟體模擬機構的運動和靜力平衡特性，並透過縮小版模型的製作實驗此機構實際運動情形。其二為折疊機構的應用，設計三片式敞篷機構及折疊螢幕手機，大幅簡化了現有折疊機構在構型、尺寸、及力學平衡方面複雜的設計程序。其三則為 3D 掃描器的設計，運用八連桿的複數遠端運動中心特性分別安裝光源與相機至兩輸出桿，模擬不同裝置方式的工作空間，改善現有產品的掃描範圍限制，並以軟體模擬證實掃描器符合靜平衡設計。最後將現有設計進行分析，可發現六桿與八桿之RCM構型均包含在本研究提出的可行構造圖譜之中，不只能用於手術機械臂等等，甚至往更多新型態的領域發展，因而驗證圖譜之完整性與設計之可行性。

The Remote Center of Motion (RCM) is a remote virtual fixed point, and the output link of an RCM mechanism rotates around this point or slides along an axis through the point in any position within its motion range. This study proposes an atlas of parallelogram-type RCM mechanism with six-bar and eight-bar linkage to simplify the existing design procedures. The atlas is produced through the Creative Mechanism Design (CMD) Methodology with the steps of specialization and particularization, and eight feasible RCM mechanisms are generated. The kinematic characteristics of these RCM mechanisms are proved by Centrode Method. The position of RCM & dimensional parameters of the linkage can generate the shift RCM mechanism by adjusting the length of the linkage and the angle of the multi-joint linkage. In addition, the statically balanced design for these RCM mechanisms is provided based on energy method. The spring coefficient related to the dimensional and mass parameters can be determined with various positions for spring assembly. Three applications of the RCM mechanisms are presented as design examples. The first example is an assistive device to help the patients translate their posture from lying to sitting or from sitting to standing. To avoid stressing the user's body when changing postures, the positions of RCM are set to meet the positions of hip and knee joints, respectively. The performance of the proposed mechanism in both kinematic and statically balanced is verified through the software SOLIDWORKS and ADAMS. A scaled-down prototype is also provided to demonstrate the motion of this mechanism. The second example is folding mechanisms including a three-piece convertible and a folding screen mobile. The existing complicated design procedure of configuration, dimensional parameters, and gravity balancing of the folding mechanisms is obviously simplified with the proposed atlas of RCM mechanism. The third example is an innovative mount of 3D scanner with dual RCMs generated by an eight-bar linkage to arrange the light source and camera separately. Compared to the existing products, the working space of the proposed RCM mechanism is substantially extended. The statically balanced design of scanner is also verified. To summarize, the existing RCM mechanisms with six-bar and eight-bar are all included in the presented atlas. The RCM mechanism can be developed not only for surgical robotic arms but also for more innovative fields, and therefore the integrity and feasibility of the proposed RCM atlas are validated.

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