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Table 2 Solutions of actuation number synthesis for parallel/serial legs

From: Type Synthesis of Walking Robot Legs

Index [N, n qj ], j=0–6
Q1 [1,0,0,0,1,0,0,0]
Q2 [2,0,1,1,0,0,0,0]
Q3 [3,0,3,0,0,0,0,0]
Q4 [2,1,0,0,1,0,0,0]
Q5 [3,1,1,1,0,0,0,0]
Q6 [4,1,3,0,0,0,0,0]
Q7 [1,0,0,1,0,0,0,0]
Q8 [2,0,2,0,0,0,0,0]
Q9 [2,1,0,1,0,0,0,0]
Q10 [3,1,2,0,0,0,0,0]