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

Table 6

Positioning error of hydraulic rod at 3 mm/s speed.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	0.23	11	-0.46	21	-0.56
2	0.45	12	-0.75	22	0.82
3	-0.69	13	0.96	23	0.22
4	0.63	14	0.71	24	-1.29
5	0.44	15	1.08	25	0.79
6	-0.36	16	-0.54	26	-0.69
7	-0.38	17	-0.53	27	0.16
8	0.49	18	-0.37	28	-0.34
9	0.31	19	0.64	29	0.51
10	0.15	20	1.02	30	-0.61