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Table 2 Structural error of PM (mm)

From: Workspace and Accuracy Analysis on a Novel 6-UCU Bone-attached Parallel Manipulator

No. δaix δaiy δaiz δbix δbiy δbiz δli
1 −0.02 0.02 −0.01 −0.01 −0.01 0.02 0.01
2 0.01 0.02 0.02 −0.01 −0.01 0.02 0.02
3 −0.01 −0.01 0.01 −0.03 0.01 0.02 0.02
4 0.02 0.02 0.02 −0.01 −0.01 0.02 −0.01
5 −0.01 0.02 −0.02 −0.01 0.01 0.02 −0.01
6 0.01 0.03 0.01 −0.01 −0.01 0.02 0.02