| 摘要 |
<p>A manipulator for producing a remote center of revolute motion is provided. A tool holder is pivotally connected to the first connector link by a first pivot joint and pivotally connected to the second connector link by a second pivot joint such that a tool held therein is pivotable at a remote virtual pivot point about a first remote pivot axis by pivoting the first and second links respectively about the first and second axes and a second remote pivot axis by pivoting the first and second links respectively about the third and fourth axes.</p> |
