Abstract: Abstract. The rapid development of microsurgical robotics is increasingly challenging the adequacy of traditional remote center of motion (RCM) mechanisms. Their inherent rigidity, bulkiness, and limited kinematic flexibility ...

Abstract: In this paper, a generalized method for error modeling of the spatial 1T2R three degrees-of-freedom kinematically redundant parallel mechanism with a closed-loop chain is proposed, which is based on the matrix differential ...