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In the design process, a three degree of freedom (DOF) parallel mechanism coupled with a remote center of motion (RCM) mechanism linkage mechanism were designed to serve as the CR\u2019s climbing mechanism, which met the specific demands for climbing movements. The modified Kutzbach\u2013Gr\u00fcbler formula and the screw theory were applied to calculate the DOFs of the CR. Then, the inverse and forward position analysis for the CR was derived. Furthermore, velocity and acceleration analysis of parallel mechanism were conducted and derived the Jacobian matrix, through which the singularity of parallel mechanism was analyzed. In order to evaluate kinematic performance of parallel mechanism, the motion\/force transmission index (LTI) of workspace was calculated, which directed the followed dimensional optimization process. According to the optimization result, a prototype was constructed and a series of motion experiments were carried out to validate its climbing capability.<\/jats:p>","DOI":"10.1017\/s0263574724002133","type":"journal-article","created":{"date-parts":[[2024,12,27]],"date-time":"2024-12-27T00:22:53Z","timestamp":1735258973000},"page":"701-719","source":"Crossref","is-referenced-by-count":5,"title":["Design and analysis of a climbing robot consisting of a parallel mechanism and a remote center of motion mechanism"],"prefix":"10.1017","volume":"43","author":[{"given":"Wei","family":"Ye","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tongwang","family":"Huo","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chaoxin","family":"Gong","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4409-039X","authenticated-orcid":false,"given":"Zhihong","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,12,27]]},"reference":[{"key":"S0263574724002133_ref10","volume-title":"Proc JSME Conf on Robotics and Mechatronics","author":"Kushihashi","year":"2006"},{"key":"S0263574724002133_ref18","unstructured":"[18] Lauria, M. , Piguet, Y. and Siegwart, R. , \u201cOctopus:, an autonomous wheeled climbing robot,\u201d In:\u00a0Proceedings of the Fifth International Conference on Climbing and Walking Robots (CLAWAR\u201902) (2002) pp. 315\u2013322."},{"key":"S0263574724002133_ref23","first-page":"39","article-title":"An inchworm locomotion gait based on serpenoid curve for snakelike robot","volume":"24","author":"Hong","year":"2008","journal-title":"Mach. 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