Design and Workspace Analysis of a Differential Motion Rotary Style Breast Interventional Robot

Table 10

Positioning error of hydraulic rod at 1.6 m tubing.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	1.06	11	0.48	21	0.18
2	0.78	12	-0.71	22	-0.79
3	0.84	13	-0.08	23	-0.68
4	0.23	14	0.35	24	0.51
5	-0.52	15	0.47	25	0.62
6	-0.46	16	0.58	26	0.41
7	-0.22	17	0.84	27	0.82
8	-0.58	18	0.48	28	-0.61
9	-0.36	19	-0.52	29	0.64
10	0.69	20	-0.32	30	0.31