
System parameters  Value 

Mass of the endeffector  20 kg 
Acceleration due to gravity  9.81 m/s^{2} 
Height of the cable tower rack  1 m 
Side length of four towers distributed in rectangle  1 m 
Side length of four towers distributed in rectangle  1 m 
Length of the cable  2.3 m 
Length of the EO  1 m 
Length of the Link AB  0.2 m 
Length of the Link BC  0.5 m 
Length of the Link CD  0.5 m 
Length of the Link ED  0.28 m 
Length of the Link AE  0.51 m 
Density of the Links  kg/m^{3} 
Crosssectional area of the Links  m^{2} 
