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Parameters of robot design examples.
| Base location [mm] | [0, 0, 0]T | ||
| Entry vector | [0, 0, 1]T | ||
| Section stiffness ratio | D = 10 | ||
|
Design 1 – Stable | |||
| Section | 1/ki [mm] | Φi [mm] | Li [mm] |
| proximal | 60 | 40 | 40 |
| distal | 25 | 20 | 60 |
|
Design 2 – Unstable | |||
| Section | 1/ki [mm] | Φi [mm] | Li [mm] |
| proximal | 40 | 40 | 40 |
| distal | 10 | 20 | 60 |
