Chinese Journal of Mechanical Engineering

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]

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