Modeling and simulation of master manipulatorbased on the remote center motion mechanism
                                                              WANG Jie, GUAN Shengqi, LEI Ming, CHEN Linzi
                            (School of Mechanical and Electronic Engineering, Xian Polytechnic University, Xian 710048, China)

Abstract: Aiming at the problem how the robotic end effector for minimally invasive urology surgery can accomplish a given task in limited space to improve the safety of minimally invasive urology surgery, the kinematics and workspace of the master manipulator were studied. According to the characteristics and technical requirements of minimally invasive urology surgery,a master manipulator with 6DOF was designed based on the remote centre motion (RCM) mechanism，which was used to control the robotic end effector.And the kinematics model of master manipulator was established with the improved DH method, the functional relationship between the end of master manipulator and the spatial position of each joint variable and the kinematics solution of inverse was obtained.The simulation of the kinematics and workspace for master manipulator was carried out by ADAMS and Matlab,and the results were compared and analyzed. The results indicate that the master manipulator is reasonable, the model is established accurately, the flexibility is high, and the given operation task can be completed.

Key words: remotecentremotion mechanism (RCM); master manipulator; kinematics model; workspace