Skip to main content

Table 1 Number of revolute joints under different input and output joints

From: A \({{\varvec{\Phi}}}\) 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator

Input and output joint types Condition Number of rotating pairs
\(a_{1} = a_{2} = 0\) \(\sum\limits_{i = 1}^{l} {\omega_{Ri} } = 0\) \(l \in \left\{ {0,2} \right\}\)
\(a_{1} = 0, a_{2} = 1\) or \(a_{1} = 1, a_{2} = 0\) \(\sum\limits_{i = 1}^{l} {\omega_{Ri} } \ne 0\) \(l \in \left\{ {1,2} \right\}\)
\(a_{1} = a_{2} = 1\) \(\sum\limits_{i = 1}^{l} {\omega_{Ri} } = \omega_{o} - \omega_{i}\) \(l \in \left\{ {0,1,2} \right\}\)