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

Table 3

Positioning error of hydraulic rod with 80 mm movement distance.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	-0.76	11	0.67	21	0.25
2	-0.21	12	0.56	22	-0.32
3	0.22	13	0.26	23	-0.79
4	-1.09	14	-0.51	24	0.84
5	0.16	15	-1.03	25	0.75
6	-0.69	16	0.55	26	0.80
7	0.75	17	-0.56	27	-0.90
8	-0.34	18	-0.32	28	-0.46
9	0.54	19	0.20	29	-0.75
10	0.47	20	1.08	30	-0.57