1. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
The traditional Sarrus mechanism

2. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Tilted straight-line motion

3. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Tilted straight-line motion with ρ=90deg and ψ=25deg

4. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
General tilted straight-line motion

5. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
General tilted straight-line motion

6. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Two movable planes with the intersection line passing through a fixed point

7. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Some typical 3-DOF planar serial mechanisms

8. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
RCM mechanisms, the mechanisms (a), (b), and (d) have 2-DOF, and that in (c) has 1-DOF

9. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Kinematic model of RCM mechanism shown in Fig. 8(b)

10. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
The relationship of ψ1 versus ψ2

11. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
The output characteristic of the mechanism

12. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
The bifurcated motion of the mechanism when β=45deg

13. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
Kinematic model of the RCM mechanism shown in Fig. 8(d)

14. Date of download: 11/22/2017
Copyright © ASME. All rights reserved.
From: A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
J. Mech. Des. 2013;135(9): doi: /
Figure Legend:
3 DOF RCM mechanisms