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Table 10 Solutions of constrain number synthesis for type T-P

From: Type Synthesis of Walking Robot Legs

Index N [Co, n cj ], j = 0–6
C-TP-1 (series) 1 [0,0,0,0,1,0,0,0]
C-TP-2 2 [0,1,0,0,1,0,0,0]
C-TP-3 2 [1,0,1,0,1,0,0,0]
C-TP-4 2 [1,0,0,2,0,0,0,0]
C-TP-5 2 [2,0,0,1,1,0,0,0]
C-TP-6 3 [0,2,0,0,1,0,0,0]
C-TP-7 3 [1,1,1,0,1,0,0,0]
C-TP-8 3 [1,1,0,2,0,0,0,0]
C-TP-9 3 [2,1,0,1,1,0,0,0]
C-TP-10 3 [2,0,2,0,1,0,0,0]
C-TP-11 3 [2,0,1,2,0,0,0,0]
C-TP-12 3 [3,0,1,1,1,0,0,0]
C-TP-13 3 [3,0,0,3,0,0,0,0]
C-TP-14 3 [4,0,0,2,1,0,0,0]
C-TP-15 4 [0,3,0,0,1,0,0,0]
C-TP-16 4 [1,2,1,0,1,0,0,0]
C-TP-17 4 [1,2,0,2,0,0,0,0]
C-TP-18 4 [2,2,0,1,1,0,0,0]
C-TP-19 4 [2,1,2,0,1,0,0,0]
C-TP-20 4 [2,1,1,2,0,0,0,0]
C-TP-21 4 [3,1,1,1,1,0,0,0]
C-TP-22 4 [3,0,3,0,1,0,0,0]
C-TP-23 4 [3,1,0,3,0,0,0,0]
C-TP-24 4 [3,0,2,2,0,0,0,0]
C-TP-25 4 [4,1,0,2,1,0,0,0]
C-TP-26 4 [4,0,2,1,1,0,0,0]
C-TP-27 4 [4,0,1,3,0,0,0,0]
C-TP-28 4 [5,0,1,2,1,0,0,0]
C-TP-29 4 [5,0,0,4,0,0,0,0]
C-TP-30 4 [6,0,0,3,1,0,0,0]