From: Optimal Design and Force Control of a Nine-Cable-Driven Parallel Mechanism for Lunar Takeoff Simulation
Angle θ1 (°)
Angle θ2 (°)
Angle θ3 (°)
Radius R1 (m)
Radius R2 (m)
SUM_DWS
Before optimization
30
0.2
4397
After optimization
5
60
0.25
0.1
6551