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Robotics and Biomimetics

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

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