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

Table 2

Positioning error of hydraulic rod with 40 mm movement distance.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	1.43	11	-0.89	21	-0.58
2	0.31	12	1.07	22	0.81
3	-0.18	13	1.39	23	0.20
4	0.05	14	0.60	24	-0.19
5	-0.02	15	0.03	25	1.10
6	-0.32	16	0.15	26	0.51
7	0.97	17	-0.07	27	0.41
8	-0.27	18	1.02	28	0.41
9	0.35	19	-1.08	29	1.32
10	0.44	20	0.61	30	-0.84