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. Author manuscript; available in PMC: 2011 Jun 13.
Published in final edited form as: IEEE Int Conf Robot Autom. 2008 Jun 13;2008:2489–2495. doi: 10.1109/ROBOT.2008.4543587

Fig. 3.

Fig. 3

Mechanism design for motion in the vertical plane. Coupling the forward and rear motion provides for vertical travel, independently moving the rear provides for elevation angle (θ) adjustment.