Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot

Table 1

Inverse kinematics solution of 4-UPU.

(mm)	(mm)	(mm)	θ; (°)
0	0	−625	−28
−50	−50	−625	−28
−50	−50	−625	62
50	50	−625	62
(mm)	(mm)	(mm)	(mm)
626.547	626.547	872.906	1.149
627.026	634.004	855.101	1.202
627.026	634.004	551.715	0.584
634.004	627.026	637.245	0.497