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TableĀ 1 Selected candidates for architecture parameters

From: Kinematic Sensitivity Analysis and Dimensional Synthesis of a Redundantly Actuated Parallel Robot for Friction Stir Welding

No.UVl1l2l3r1 (mm)r2 (mm)r3 (mm)r4 (mm)
#10.981.81.070.951.04490534476519
#20.941.81.090.971.12470544486562
#30.941.91.180.881.11470588442553
#40.901.81.110.991.22450554496611
#50.901.91.200.901.20450598452601
#60.902.01.280.821.17450641409583
#70.902.11.370.731.11450684366556
#80.902.21.460.641.04450728322521
#90.861.81.131.011.33430564506664
#100.821.81.151.031.44410574516722