Performance

Performance Results

In general, the physical prototype achieved the target performance. Overall end-to-end stiffness was found to be 8 N/mm, 20% worse than the initial target of 10 N/mm. However, this was still an acceptable stiffness. Total backlash was also measured to be 0.34 mm, or 32% better than the target of 0.5 mm. 

The prototype also succeeded at most other performance targets. Transportability and range of motion met expectations, with a single person able to transport and position the system with ease. The arm has sufficient range of motion to reach the full face of an MRI bore, and although the final total weight slightly exceeded the initial target, the system's low center of mass ensures that stability is not compromised.