Table 3 Theoretical and simulation values
From: Kinematic, Workspace and Force Analysis of A Five-DOF Hybrid Manipulator R(2RPR)R/SP+RR
Limb | Df/Cf | Tv | Sv | Ae | Re |
|---|---|---|---|---|---|
Limb1 | fa, 1 | 4.0561 N | 3.981 N | 0.0751 | 1.85% |
mr, 1 | 3.0784 N·m | 3.182 N·m | − 0.1036 | − 3.37% | |
Limb2 | fa, 2 | 49.094 8N | 48.08 N | 1.0148 | 2.07% |
mr, 2 | 3.0784 N·m | 3.186 N·m | − 0.1076 | − 3.50% | |
Limb3 | fa, 3 | −62.8534 N | − 62.66 N | − 0.1934 | 0.31% |
fr, 31 | 17.9403 N | 18.35 N | −0.4097 | − 2.28% | |
fr, 32 | −5.7550 N | − 5.87 N | 0.115 | − 2.00% |