Research Article
Research on Kinematics and Pouring Law of a Mobile Heavy Load Pouring Robot
Table 2
Kinematics positive solution of 4-UPU.
|
(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 |
|
(mm) |
(mm) |
(mm) |
(°) |
| | 8.7047 × 10−12 | 0 | −625 | −27.983 | | −50 | −50 | −625 | −27.983 | | −50 | −50 | −625 | 61.968 | | 50 | 50 | −625 | 61.968 |
|
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