A Novel Family of Partially Decoupled 2R1T Remote Center of Motion Mechanisms for Minimally Invasive Surgical Robot: Conceptual Design, Kinematics, Singularity, and Workspace Analysis
['Rongfu Lin', 'Yuhao Cai', 'Shuaiyu Lin', 'Yi Wang', 'Qirong Tang']
/
Journal of Mechanical Design
/ Vol. 148
/ No. 8
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