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Table 2 Optimum values of design variables

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

Design variables r0 (mm) r1 (mm) r2 (mm) r3 (mm) r6 (mm) r7 (mm)
Optimal value 29 57.35 35 56.13 108.8 77
Design variables r8 (mm) r9 (mm) θ1 (rad) θ3_4 (rad) θ6_9 (rad) θ8 (rad)
Optimal value 84.12 128.8 −2.88 3.06 2.72 5.71