Table 1 Properties of components of the entire system
From: An underactuated parallel-link gripper for a multicopter capable of plane perching
Mass | \(m_L1\) | 1.738 kg |
\(m_L2\) | 0.022 kg | |
\(m_L3\) | 0.025 kg | |
\(m_L4\) | 0.025 kg | |
Length | \(l_1\) | 50 mm |
\(l_2\) | 120 mm | |
\(l_s\) | 61.2 mm | |
\(l_{o2}\) | 60 mm | |
\(l_{o4}\) | 21 mm | |
a | 7.5 mm | |
b | 10.8 mm | |
c | 100 mm | |
s | − 160 mm | |
t | 96 mm | |
Static position vector | \({\varvec{P}}_{3}\) | (0,50)\(^T\) |
\({\varvec{P}}_{4}\) | (0,0)\(^T\) | |
\({\varvec{P}}_{L_3}\) | (-2,49)\(^T\) |