From: Analysis and Optimization of a Spatial Parallel Mechanism for a New 5-DOF Hybrid Serial-Parallel Manipulator
Step size ε (mm)
Volume V (mm3)
Average volume V (mm3)
2.0
11 276
11 290
2.5
11 288
3.0
11 268
3.5
11 318
4.0
11 220
4.5
11 370