... 3( sin( ) ( sin sin( ))Pmr mL r44 4 4 5 2 2 3 3 3 5 5 5sin( ) ( sin sin( ) sin( )mr m L L r 66 6 6sin( ))mr g (6) where im is mass of each linkage; ... No. 10, pp. 1045-1 066 , 2003. [25] K. Craig, “The role of computers in mechatronics”, Computing in Science & Engineering, Vol. 5, No. 2, pp. 80-85, 2003. Advances in Mechatronics 110 ... pp. 55 -66 , 1995. [13] Manuel, Pablo Gonzalez de Santos. Climbing and Walking Robots. Springer Berlin Heidelberg, Germany, 2005. [14] M. O. Tokhi , M. A. Hossain and G. S.Virk “Climbing and...