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Table 1 D-H parameters of the triangle

From: Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robot

i α i − 1 a i /mm d i /mm θ i
1 −(β 0 + 90) 0 0 θ 1
2 α 1 0 0 θ 2
3 α 2 0 0 d