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

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

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

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

A new synthesis method for planar Rubik's cube mechanism - Dabao Fan, Daxing Zeng, Shihao Dong, Wenjuan Lu, Wenchao Li, Zirong Zhou, 2022

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

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

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

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

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