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Table 1 Coordinates of pre-assigned points (mm)

From: Development and Analysis of a Closed-Chain Wheel-Leg Mobile Platform

i 1 2 3 4 5 6 7 8
∆θ0 (°) 0 45 90 135 180 225 270 315
XHi (mm) 56 84 62 37 5 12 46 76
YHi (mm) 24.3 210 201 59 0 0 0 0