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Table 4 Solutions of constrain number synthesis for type R-P

From: Type Synthesis of Walking Robot Legs

Index N [Co, n cj ], j = 0–6
C-RP-1 (series) 1 [0,0,0,0,1,0,0,0]
C-RP-2 2 [0,1,0,0,1,0,0,0]
C-RP-3 2 [0,0,1,1,0,0,0,0]
C-RP-4 2 [1,0,1,0,1,0,0,0]
C-RP-5 3 [0,2,0,0,1,0,0,0]
C-RP-6 3 [0,1,1,1,0,0,0,0]
C-RP-7 3 [1,1,1,0,1,0,0,0]
C-RP-8 3 [1,0,2,1,0,0,0,0]
C-RP-9 3 [2,0,2,0,1,0,0,0]
C-RP-10 4 [0,3,0,0,1,0,0,0]
C-RP-11 4 [0,2,1,1,0,0,0,0]
C-RP-12 4 [1,2,1,0,1,0,0,0]
C-RP-13 4 [1,1,2,1,0,0,0,0]
C-RP-14 4 [2,1,2,0,1,0,0,0]
C-RP-15 4 [2,0,3,1,0,0,0,0]
C-RP-16 4 [3,0,3,0,1,0,0,0]