Table 2 Working conditions of variable values

i

i-1

θ₂= –8.7º, θ₄= –3.8º, θ₆= –5º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = 0.1789\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

i-2

θ₂= –8.7º, θ₄= –3.8º, θ₆= –5º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = - 0.1789\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

i-3

θ₂= –8.7º, θ₄= –3.8º, θ₆= –5º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = 0\)

ii

ii-1

θ₂=θ₄=θ₆=0º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = 0.1667\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

ii-2

θ₂=θ₄=θ₆=0º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = - 0.1667\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

ii-3

θ₂=θ₄=θ₆=0º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = 0\)

iii

iii-1

θ₂=8.7º, θ₄=5º, θ₆=3.8º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = {0}{\text{.1383}}\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

iii-2

θ₂=8.7º, θ₄=5º, θ₆=3.8º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = - {0}{\text{.1383}}\left( {m_{{\text{L}}} g + m_{{\text{R}}} g} \right)\mu\)

iii-3

θ₂=8.7º, θ₄=5º, θ₆=3.8º

\({}^{{\text{B}}}F_{x\_\max }^{{\left( {s_{6} } \right)}} = 0\)