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Keywords: partially decoupled motion
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Journal Articles
Journal:
Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
Published Online: September 3, 2024
... surgery (MIS). One rotation and one translation ( 1 R 1 T , pitch and insertion) are the basic requirements for RCM mechanisms. To make the structure simpler and control easier, a novel concept of 1 R 1 T RCM mechanisms with partially decoupled motions, inspired by the double-parallelogram 1 R RCM...
