Table 1: The parameters of the base platform (m).

123456

𝑥 𝐵 𝑖 0.400000 0.000000 −0.400000 0.400000 −0.400000 −2.000000
𝑦 𝐵 𝑖 −0.400000 0.400000 −0.400000 −2.000000 −2.000000 0.000000
𝑧 𝐵 𝑖 0.000000 0.000000 0.000000 1.500000 1.500000 1.500000