Synthesis process of two-RCM mechanism: (a) multi-loop kinematic

Download scientific diagram | Synthesis process of two-RCM mechanism: (a) multi-loop kinematic chain; (b) schematic with several parallelograms; (c) synthesized two-RCM mechanism. from publication: Kinematics and synthesis of a type of mechanisms with multiple remote centers of motion | Remote center of motion (RCM) mechanism, widely used as a wrist of minimally invasive surgery robot, is a kind of minor-mobility mechanism with part of it rotating around a fixed point distal from it. However, there is no physical revolute joint at that point. In this paper, | Kinematics, Motion and Physical Exercise | ResearchGate, the professional network for scientists.

Type synthesis of 2R1T remote center of motion parallel mechanisms with a passive limb for minimally invasive surgical robot - ScienceDirect

Graph representation of three planar RCM mechanisms based on cable

The Orthoglide 3-axis Download Scientific Diagram

Assembling four-bar mechanism in Fig. 2(h) with a bent link.

Type synthesis of 2R1T remote center of motion parallel mechanisms with a passive limb for minimally invasive surgical robot - ScienceDirect

Underactuated BERUL fingers Download Scientific Diagram

New remote centre of motion mechanism for robot-assisted minimally invasive surgery, BioMedical Engineering OnLine

General 6R wrist-partitioned architecture.

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