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

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

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

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

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