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Table 1 D–H parameters of RCM mechanism

From: New remote centre of motion mechanism for robot-assisted minimally invasive surgery

Joint

a (mm)

α (°)

d (mm)

θ (°)

1

0

0

100

0

2

270

0

0

θ 2

3

150

0

0

θ 3

4

0

− (90 + 30)

0

θ 4

5

0

− 90

620

θ 5

6

0

90

0

θ 6

7

0

0

d 7

0