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

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

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

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

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A general 6R mechanism Applying the homogeneous transformation [40], a

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