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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