Table 4: Boom test rig parameters value.

ParametersValue

Boom weight886.3 N, 371.42 N, 313.6 N, 179.34 N
Boom length3.76 m, 2.83 m, 2.88 m, 3.21 m
Joint distance between booms : 0.13 m, 0.24 m
: 0.65 m, 1.09 m, 0.24 m
: 0.25 m, 0.67 m, 0.126 m
: 0.135 m, 0.7 m, 0.12 m
: 0.14 m
Boom bending angles : 0.36 ; : 0.278 , 0.278
: 0.294 , 0.294 ; : 0.3
Links length : 0.4 m, 0.39 m
: 0.18 m, 0.15 m
: 0.24 m, 0.23 m
Cylinders weight144 N, 180 N, 74.5 N, 24.5 N
Links weight38 N, 4.8 N, 7.4 N