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

The linkage graphs show the synthesis sequence for the three

Two KUKA KR-15/2 wrist singular configurations.

Simulation of a two-RCM mechanism in software of SAM: (a) initial state

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

Underactuated BERUL fingers Download Scientific Diagram

Procedure of the synthesis method. RCM: remote center of motion; SLE

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

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

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

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

Type Synthesis Based on Modular Combination with Virtual Rotation Center and Application

A family of RCM mechanisms: Type synthesis and kinematics analysis - ScienceDirect

PDF) Kinematics and synthesis of a type of mechanisms with