A Large-Scale Multibody Manipulator Soft Sensor Model and Experiment Validation

Table 3

Boom variables of the stress calculation.

Boom	Tension (N)	Bending moments (N⋅m)	Cross section dimension (m)
			𝐻	ℎ	𝐵	𝑏
1	𝐹𝑁1	𝑀1	𝐻1	ℎ1	𝐵1	𝑏1
2	𝐹𝑁2	𝑀2	𝐻2	ℎ2	𝐵2	𝑏2
3	𝐹𝑁3	𝑀3	𝐻3	ℎ3	𝐵3	𝑏3
4	𝐹𝑁4	𝑀4	𝐻4	ℎ4	𝐵4	𝑏4