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Table 4 Comparison of variables before and after optimization

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

30

30

0.2

0.2

4397

After optimization

5

5

60

0.25

0.1

6551