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

Table 9

Positioning error of hydraulic rod at 1 m tubing.

Times	Error (mm)	Times	Error (mm)	Times	Error (mm)
1	1.02	11	0.82	21	-0.47
2	0.86	12	0.54	22	-0.68
3	0.56	13	0.35	23	0.75
4	-0.27	14	-0.31	24	0.55
5	-0.48	15	-0.76	25	0.69
6	0.68	16	-0.67	26	-0.51
7	-0.45	17	0.76	27	0.39
8	0.19	18	0.93	28	0.22
9	0.54	19	0.64	29	-0.21
10	0.97	20	0.32	30	0.44