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.

a) A multi-RCM mechanism and (b) its simplified mechanism.

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

Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism, Chinese Journal of Mechanical Engineering

General 6R wrist-partitioned architecture.

Two KUKA KR-15/2 wrist singular configurations.

Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism, Chinese Journal of Mechanical Engineering

Kinematic analysis of a new five-bar spherical decoupled mechanism with two-degrees of freedom remote center of motion - ScienceDirect

Underactuated BERUL fingers Download Scientific Diagram

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

Classification and type synthesis of 1-DOF remote center of motion mechanisms - ScienceDirect

General 6R wrist-partitioned architecture.

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

PDF) Kinematics and synthesis of a type of mechanisms with multiple remote centers of motion

Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism, Chinese Journal of Mechanical Engineering

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