A generic structure for a planar remote center of motion (RCM) mechanism with dual scissor-like mechanisms is presented for the first time. Its mobility is analyzed using screw theory, and several specific planar RCM mechanisms composed of different scissor-like elements (SLEs) are proposed. Considering their ease of manufacture and feasibility, the main focus is on RCM mechanisms with identical straight SLEs. Two RCM deployable manipulators with two rotational and one translational degrees of freedom constructed from identical straight SLEs are proposed. The first has a stationary rotation center, which is fixed relative to the base platform, and an end-effector with large translation ability along the radial axis. The second has a mobile rotation center, which is fixed relative to the moving platform, and an end-effector with large translation ability along a specific axis. To decouple mechanically the rotation and translation of the end-effector, two actuators are designed specially to drive these manipulators. To evaluate the kinematics, the whole manipulators are decomposed into several components. The dexterity, inside singularity and workspaces are investigated. Finally, prototypes are manufactured, and experiments are conducted to validate the mobility and motion feasibility of these RCM deployable manipulators.

首次提出了具有双剪刀状机构的平面远程运动中心（RCM）机构的通用结构。利用螺丝理论分析了其移动性，并提出了几种由不同剪刀状元件（SLE）组成的特定平面RCM机构。考虑到它们的易制造性和可行性，主要重点是具有相同直SLE的RCM机制。提出了两种由相同的直线SLE构成的具有两个旋转和一个平移自由度的RCM可部署操纵器。第一个具有固定的旋转中心，该旋转中心相对于基础平台固定，并且具有沿径向轴具有较大平移能力的末端执行器。第二个具有移动旋转中心，该旋转中心相对于移动平台是固定的，以及沿特定轴具有较大平移能力的末端执行器。为了机械耦合末端执行器的旋转和平移，专门设计了两个执行器来驱动这些操纵器。为了评估运动学，将整个机械手分解为几个组件。研究了灵巧性，内部奇异性和工作空间。最后，制造出原型，并进行实验以验证这些RCM可部署机械手的机动性和运动可行性。