From: A \({{\varvec{\Phi}}}\) 6-m Tunnel Boring Machine Steel Arch Splicing Manipulator
Number of intermediate kinematic pairs | Types of intermediate kinematic pair | Relationship to \(\omega_{i}\) and \(\omega_{o}\) | Grasping module closed-loop structure |
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2 | 2R | \(\omega_{o} = \frac{{x_{R1} - x_{R2} }}{{x_{R2} y_{R1} - x_{R1} y_{R2} }}\omega_{i}\) |
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2 | 1R1P | \(\omega_{o} = \frac{{ - y_{P} }}{{x_{P} x_{R} + y_{P} y_{R} }}\omega_{i}\) |
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