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Table 16 Limb expression for type T-H (referring Tables 8, 10 and 12)

From: Type Synthesis of Walking Robot Legs

Parallel limb 1

Parallel limb 2

Parallel limb 3

Serial limb

Other limb

Condition

Index

GF21

GF6

GF5

/

/

C-TH-1, C-TP-1

GF21

GF6

GF6

/

/

C-TH-2, C-TP-1

GF12

GF16

GF1

GF1

GF16

/

C-TP-6, C-TP-2

GF12

GF16

GF2

GF2

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 2,3,4\)

C-TP-10, C-TP-2

GF12

GF10

GF3

GF3

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 2,3,4\)

C-TP-13, C-TP-2

GF12

GF16

GF3

GF3

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 2,3,4\)

C-TP-14, C-TP-2

GF18

GF4

GF1

GF1

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-6, C-TP-3

GF18

GF4

GF2

GF2

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-9, C-TP-3

GF18

GF4

GF3

GF3

GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-11, C-TP-3

GF21

GF4

GF1

GF1

GF10/GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-6, C-TP-4/ C-TP-5

GF21

GF4

GF2

GF2

GF10/GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-9, C-TP-4/ C-TP-5

GF21

GF4

GF3

GF3

GF10/GF16

\(\parallel {\text{R}}_{{{\upalpha }}}^{j} ,j = 1,5\)

C-RH-11, C-TP-4/ C-TP-5