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. Author manuscript; available in PMC: 2011 May 10.
Published in final edited form as: IEEE Trans Robot. 2010;26(5):769–780. doi: 10.1109/TRO.2010.2062570

TABLE II.

Translational Actuator Configurations

D1 (mm) 131.7 154.7 177.7 200.7 223.7
D2 (mm) 30.7 30.7 30.7 30.7 30.7
Tip Load (N) 0.981 0.981 0.981 1.962 4.9051
1

In the α1 = 0°; α2 = 0° case the load was 1.962 N.