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.

Graph representation of three planar RCM mechanisms based on cable

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

Two KUKA KR-15/2 wrist singular configurations.

The Watt and Stephenson six-bar chains and their inversions.

The linkage graphs show the synthesis sequence for the three

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

Module combination based configuration synthesis and kinematic analysis of generalized spherical parallel mechanism for ankle rehabilitation - ScienceDirect

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

Kinematic Synthesis of Fully Decoupled Planar Parallel Mechanisms by Using Multiple Pantograph Geometries

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

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