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

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

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

The Orthoglide 3-axis Download Scientific Diagram

Kinematics Analysis and Singularity Avoidance of a Parallel Mechanism with Kinematic Redundancy, Chinese Journal of Mechanical Engineering

Kinematic Synthesis and Design of a Five Fingered Hand Exoskeleton

A family of RCM mechanisms: Type synthesis and kinematics analysis - ScienceDirect

Automated conceptual design of mechanisms.

PDF) An Approach to Modeling Closed-Loop Kinematic Chain Mechanisms, Applied to Simulations of the da Vinci Surgical System

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Optimum Seeking of Redundant Actuators for M-RCM 3-UPU Parallel Mechanism, Chinese Journal of Mechanical Engineering