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Table 2 Closed-loop structure of grasping module for revolute output joint

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
2 2R \(\omega_{o} = \frac{{x_{R1} - x_{R2} }}{{x_{R2} y_{R1} - x_{R1} y_{R2} }}\omega_{i}\)
2 1R1P \(\omega_{o} = \frac{{ - y_{P} }}{{x_{P} x_{R} + y_{P} y_{R} }}\omega_{i}\)