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Table 14 Limb expression for type R-H (referring Tables 4, 6 and 8)

From: Type Synthesis of Walking Robot Legs

Parallel limb 1

Parallel limb 2

Parallel limb 3

Serial limb

Other limb

Condition

Index

GF18

GF1

GF1

GF7

/

/

C-RH-1, C-RP-1

GF12

GF2

GF2

GF7

/

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 2,3\)

C-RH-4, C-RP-1

GF18

GF2

GF2

GF7

/

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2,3\)

C-RH-5, C-RP-1

GF4

GF1

GF1

GF18

GF8/GF14

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 4,5\)

C-RH-6, C-RP-3/ C-RP-4

GF4

GF2

GF2

GF18

GF8/GF14

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 4,5\)

C-RH-9, C-RP-3/ C-RP-4

GF4

GF3

GF3

GF18

GF8/GF14

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 4,5\)

C-RH-11, C-RP-3/ C-RP-4

GF14

GF1

GF1

GF12

GF14

/

C-RP-5, C-RP-2

GF8

GF2

GF2

GF12

GF14

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 2,3\)

C-RP-8, C-RP-2

GF14

GF2

GF2

GF12

GF14

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,\parallel {\text{R}}_{{{\upbeta }}}^{j} ,j = 1,2,3\)

C-RP-9, C-RP-2