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

Table 7

Positioning error of hydraulic rod at 8 mm/s speed.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	1.06	11	-1.09	21	-0.83
2	-0.53	12	0.99	22	0.94
3	0.20	13	0.79	23	0.56
4	0.37	14	0.26	24	0.20
5	0.47	15	0.74	25	-0.76
6	0.63	16	-0.34	26	-0.64
7	0.54	17	0.42	27	0.51
8	0.74	18	0.55	28	-0.39
9	0.36	19	-0.23	29	0.16
10	-0.69	20	-0.56	30	-0.21