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Table 2 Error in different design parameters

From: Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace

 

θ1 and θ5 step size

Number of configurations

Smax (cm2)

Save (cm2)

Smax error (%)

Save error (%)

1

0.1π

121

12.424

9.617

1.18571

3.75545

2

0.05π

441

12.564

9.714

0.07171

2.78372

3

0.025π

1681

12.564

9.871

0.07171

1.20782

4

0.01π

10201

12.573

9.951

0.00138

0.41380

5

0.005π

40401

12.573

9.975

0.00138

0.16398

6

0.0025π

160081

12.573

9.985

0.00066%

0.06559

7

0.001π

1002001

12.573

9.992