Type Synthesis of Parallel 2R1T Remote Center of Motion Mechanisms Based on Screw Theory

Type Synthesis of Parallel 2R1T Remote Center of Motion Mechanisms Based on Screw Theory

The remote center of motion (RCM) mechanism is an important part of a minimally invasive surgery (MIS) robot. As a practical type of RCM mechanisms, 2R1T RCM mechanisms are synthesized in this paper using a modified screw theory method. Differing from the conventional screw theory method, the modifi...

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Bibliographic Details
Main Authors: Huang Long, Guang Chenhan, Yang Yang, Su Peng
Format: Article
Language:English
Published: EDP Sciences 2017-01-01
Series:MATEC Web of Conferences
Online Access:https://doi.org/10.1051/matecconf/20179508009

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