Development of a Prototype Robotic System for Radiosurgery with Upper Hemispherical Workspace

Table 3

Maximum torque and power.

	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5
Max. torque	289.61	6271	2446	250.60	87.17
Max. power	59.41	2318	718.32	100.7	6.06