Table 1 Degree of freedom, kinematic chain number, and the degree of configurable operation (λm)
From: Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains
L | R | ||||||
|---|---|---|---|---|---|---|---|
0 | 1 | 2 | 3 | 4 | 5 | 6 | |
2 | DOF ≤ 2; λm = 1 | – | – | – | – | – | – |
3 | DOF ≤ 3; λm = 1 | DOF ≤ 2; λm = 3 | – | – | – | – | – |
4 | DOF ≤ 4; λm = 1 | DOF ≤ 3; λm = 4 | DOF ≤ 2; λm = 6 | – | – | – | – |
5 | DOF ≤ 5; λm = 1 | DOF ≤ 4; λm = 5 | DOF ≤ 3; λm = 10 | DOF ≤ 2; λm = 10 | – | – | – |
6 | DOF ≤ 6; λm = 1 | DOF ≤ 5; λm = 6 | DOF ≤ 4; λm = 15 | DOF ≤ 2; λm = 20 | DOF ≤ 2; λm = 15 | – | – |