Table 2.

Related parameters to design criteria.

Variables	Values	Unities
${\zeta }_s$	$\frac{\pi }{6}$	rad
$m_r$	20	Kg
$m_L$	5	Kg
$v_{min}$	0.7	$\frac{\mathrm{m}}{\mathrm{s}}$
$a_{min}$	0.5	$\frac{\mathrm{m}}{{\mathrm{s}}^2}$
$\mu$	0.7	-
SF	70	%
g	9.8	$\frac{\mathrm{m}}{{\mathrm{s}}^2}$