Chinese Journal of Mechanical Engineering

Table 1 Variable names and levels

From: Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation

Variable name	Lower limit	Upper limit
θ₁ (°)	0	60
θ₂ (°)	0	60
θ₃ (°)	0	90
R₁ (m)	0	0.5
R₂ (m)	0	0.5

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