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

Table 4

Positioning error of hydraulic rod with 200 mm movement distance.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	-0.57	11	-0.55	21	0.56
2	-0.74	12	0.85	22	-0.49
3	-0.66	13	-0.94	23	0.65
4	0.12	14	-1.03	24	0.56
5	-0.35	15	0.75	25	0.19
6	-0.73	16	0.84	26	-0.65
7	0.66	17	-0.51	27	0.34
8	0.54	18	0.79	28	-0.54
9	0.79	19	0.20	29	0.16
10	-0.30	20	-0.21	30	-0.34