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

Table 2

Experimental results for internal force measurements.

Configuration	𝐴1	𝐴2	(𝐴1− 𝐴2)/𝐴2
1	1.06	1.11	−4.5%
2	1.93	1.91	1.0%
3	2.64	2.68	−1.5%
4	1.15	1.20	−4.2%