Table 2 Configuration of limb 1
Type of driving pair | Connectivity of the limb | Limb configuration | Basic decoupled limb configuration | Compound kinematic pair | Pa limb structure |
|---|---|---|---|---|---|
Driving pair is a prismatic pair | 3 | 3P | PxPyPz | − | − |
4 | 3P1R | PxPyPzRy | − | − | |
PxPyPzRz | − | − | |||
2P2R | PxRxPnRx | CxPnRx | − | ||
PxRxRxPy | CxRxPy | − | |||
PxPyRxRx | − | − | |||
PxRxRxPz | CxRxPz | − | |||
PxPzRxRx | − | − | |||
1P3R | PxRxRxRx | CxRxRx | − | ||
5 | 1P4R | PxRxRxRxRz | CxRxRxRz | − | |
PxRxRxRxRy | CxRxRxRy | − | |||
Driving pair is a revolute pair | 4 | 2P2R | RyRyPyPz | RyCyPz | PaPyPz |
RyPyRyPz | CyRyPz, RyCyPz | − | |||
5 | 2P3R | RyRyPyPzRx | RyCyPzRx | PaPyPzRx | |
RyPyRyPzRx | CyRyPzRx, RyCyPzRx | − | |||
RyRyPyPzRz | RyCyPzRz | PaPyPzRz | |||
RyPyRyPzRz | CyRyPzRz, RyCyPzRz | − | |||
1P4R | RyRyRxRxPz | RyUyxRxPz | PaRxRxPz | ||
RyRyPzRxRx | − | PaPzRxRx | |||
RyRyRxPnRx | RyUyzPnRx | PaRxPnRx | |||
RyPyRyRxRx | CyRyRxRx, CyUyxRx, RyCyRxRx | − | |||
5R | RyRyPyRxRx | − | PaPyRxRx | ||
RyRyRxRxPy | RyUyxRxPy | PaRxRxPy | |||
RyRyRxRxRx | RyUyxRxRx | PaRxRxRx |