Synthesis process of two-RCM mechanism: (a) multi-loop kinematic
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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.
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Synthesis process of two-RCM mechanism: (a) multi-loop kinematic chain;
The kinematic diagram of a planar 3R chain.
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a) A multi-RCM mechanism and (b) its simplified mechanism.
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