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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1 | 1P | \(\omega_{o} = - \frac{{y_{P} }}{{x_{P} }}\omega_{i}\) |
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2 | 2R | \(\omega_{o} = \frac{{x_{R1} - x_{R2} }}{{y_{R1} - y_{R2} }}\omega_{i}\) |
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2 | 2P | \(\omega_{o} = \frac{{\left( {x_{P2} y_{P1} - x_{P1} y_{P2} } \right) \times 0}}{{\left( {x_{P2} y_{P1} - x_{P1} y_{P2} } \right) \times 0}}\omega_{i}\) | \(\emptyset\): No solution to equation |