Internal and External Forces Measurement of Planar 3-DOF Redundantly Actuated Parallel Mechanism by Axial Force Sensors

Table 1

Experimental results for external force measurements.

Configuration	𝑓𝑥		𝑓𝑦		𝜏𝜃
	L	S	L	S	L	S
1	1.63%	0.99	1.76%	0.98	0.02%	1.00
2	1.43%	1.01	3.47%	1.03	0.04%	1.00
3	—	—	1.33%	1.01	—	—
4	—	—	3.39%	0.96	—	—