Statistical results showing the effect of parameter variations on performance indexes
| Parameter | G | G(b) | Fmin | Fmax | D | ATp |
|---|---|---|---|---|---|---|
| Circle radius → computed tests | 96 | 48 | 96 | 96 | 48 | 96 |
| Ref. value at 150 mm | 665.8 | − | −433.5 | − | −342.7 | 548.4 |
| 150–300 mm | −41.8 (−6%) | − | 60.6 (14%) | − | 170.6* (50%) | −39.1 (−7%) |
| Circle plane → computed tests | 64 | 32 | 64 | 64 | 32 | 64 |
| Ref. value at XY | 686.7 | 816.5 | − | 419.3 | − | 575.7 |
| XY to XZ | −223.7 (−33%) | − | − | − | − | − |
| XY to YZ | 98.3 (14%) | −174.2 (−21%) | − | −157.4 (−38%) | − | −132.4 (−23%) |
| XZ to YZ | 322.0 (47%) | −269.8 (−33%) | − | −183.0 (−44%) | − | −124.2 (−22%) |
| Travel speed → computed tests | 48 | 24 | 48 | 48 | 24 | 48 |
| Ref. value at 25 mm/s | − | − | −287.9 | 469.1 | 26.4 | 489.7 |
| 25–50 mm/s | − | − | − | − | −11.8 (−45%) | − |
| 25–100 mm/s | − | − | −97.1 (−34%) | −102.1 (−22%) | −74.7 (−283%) | − |
| 25–200 mm/s | − | − | −346.0 (−120%) | −316.2 (−67%) | −283.8 (−1075%) | 144.8 (30%) |
| 50–100 mm/s | − | − | −79.0 (−27%) | −91.5 (−20%) | −62.9 (−238%) | − |
| 50–200 mm/s | − | − | −327.9 (−114%) | −332.6 (−71%) | −272.0 (−1030%) | 121.4 (25%) |
| 100–200 mm/s | − | − | −248.9 (−86%) | −241.1 (−51%) | −209.1 (−792%) | 184.8 (38%) |
| Payload → computed tests | 12 | 6 | 12 | 12 | 6 | 12 |
| Ref. value at 30 kg | − | − | − | 764.9 | − | 764.9 |
| 30–80 kg | − | − | − | 109.1 (14%) | − | 109.1 (14%) |
| Parameter | G | G(b) | ||||
|---|---|---|---|---|---|---|
| 96 | 48 | 96 | 96 | 48 | 96 | |
| 665.8 | − | −433.5 | − | −342.7 | 548.4 | |
| −41.8 (−6%) | − | 60.6 (14%) | − | 170.6* (50%) | −39.1 (−7%) | |
| 64 | 32 | 64 | 64 | 32 | 64 | |
| 686.7 | 816.5 | − | 419.3 | − | 575.7 | |
| −223.7 (−33%) | − | − | − | − | − | |
| 98.3 (14%) | −174.2 (−21%) | − | −157.4 (−38%) | − | −132.4 (−23%) | |
| 322.0 (47%) | −269.8 (−33%) | − | −183.0 (−44%) | − | −124.2 (−22%) | |
| 48 | 24 | 48 | 48 | 24 | 48 | |
| − | − | −287.9 | 469.1 | 26.4 | 489.7 | |
| − | − | − | − | −11.8 (−45%) | − | |
| − | − | −97.1 (−34%) | −102.1 (−22%) | −74.7 (−283%) | − | |
| − | − | −346.0 (−120%) | −316.2 (−67%) | −283.8 (−1075%) | 144.8 (30%) | |
| − | − | −79.0 (−27%) | −91.5 (−20%) | −62.9 (−238%) | − | |
| − | − | −327.9 (−114%) | −332.6 (−71%) | −272.0 (−1030%) | 121.4 (25%) | |
| − | − | −248.9 (−86%) | −241.1 (−51%) | −209.1 (−792%) | 184.8 (38%) | |
| 12 | 6 | 12 | 12 | 6 | 12 | |
| − | − | − | 764.9 | − | 764.9 | |
| − | − | − | 109.1 (14%) | − | 109.1 (14%) |
The mean increment in μm and the number of test vectors are reported. Cell colors indicate the impact on accuracy: green for positive, red for negative. An asterisk (*) denotes correlation validity only at high speeds (200 mm/s)
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