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Table 4 Parameters of muscular arrangements

From: Geometric conditions of a two-link-and-six muscle structure based on internal force stability

 

A

B

\(r_{1...6}\) [mm]

60, 60, 60, 60, 60, 60

\(l_{1...6}\) [mm]

120, 120, 120, 120, 60, 60

\(\varphi _{1...6}\) [deg]

30, 30, 30, 30, 30, 30

0, 0, 0, 0, 0, 0

\(\psi _{1...6}\) [deg]

5, 5, 5, 5, 30, 30

5, 5, 5, 5, 0, 0

 

C

D

\(r_{1...6}\) [mm]

60, 60, 60, 60, 60, 60

\(l_{1...6}\) [mm]

120, 120, 120, 120, 60, 60

\(\varphi _{1...6}\) [deg]

30, 30, 30, 30, 0, 0

0, 0, 0, 0, 30, 30

\(\psi _{1...6}\) [deg]

5, 5, 5, 5, 0, 0

5, 5, 5, 5, 30, 30