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Table 6 Number synthesis for the metamorphic transmission

From: Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

No.

\(\{ {}^{a}{\varvec{S}}\}\)

\(\{ {}^{r}{\varvec{S}}\}\)

\(\mathop \cap \limits_{{{\mathfrak{m}} = a,r}} \{ {}^{{\mathfrak{m}}}{\varvec{S}}\}\)

\(\{ {}^{o}{\varvec{S}}\}\)

\(N_{p}\)

\(N_{a}\)

1

1

1

0

2

1

1

2

2

2

1

3

1

2

3

3

3

2

4

1

3

4

4

4

3

5

1

4

5

5

5

4

6

1

5

6

6

6

5

7

1

6