From: Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control
Structure items
Parameters
Length range of pneumatic cylinder l/mm
360–460
Mass of a pneumatic cylinder mL/kg
0.5
Pressure range of pneumatic cylinder P/MPa
0.1–0.9
Radius of a spherical joint rN/mm
30
Mass of a spherical joint mN/kg
0.3