Table 2 Link geometry parameters
From: Design and Analysis of a Multi-Legged Robot with Pitch Adjustive Units
Length | Value (mm) | Length | Value (mm) | Angle | Value (rad) |
|---|---|---|---|---|---|
vb | 270.42 | v4 | 187.17 | θb | 0.6545 |
vcr | 78.55 | v5 | 107.83 | θ52 | 3.6633 |
v1 | 236.74 | v6 | 215.74 | θ61 | 1.5521 |
v2 | 169.19 | v7 | 217.13 | θ74 | 4.1087 |
v3 | 193.25 | Â | Â | Â | Â |