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Table 2 Joint torques of example cases

From: Flying watch: an attachable strength enhancement device for long-reach robotic arms

External reaction force (N) Method Torque 1 (Nm) Torque 2 (Nm) Torque 3 (Nm) Torque 4 (Nm) Torque 5 (Nm) Torque 6 (Nm) Torque 7 (Nm) Torque 8 (Nm) Torque 9 (Nm)
[125,0,0] No watch 0.0 177.3 306.9 438.4 167.1 245.1 5.5 26.5 0.0
[125,0,0] First 18.3 284.8 108.2 173.6 118.8 216.8 86.3 12.2 0.0
[125,0,0] Second 1.7 234.1 241.7 241.7 77.9 197.4 1.5 12.1 0.0
[0,125,0] No watch 500.0 148.7 71.9 432.8 103.8 103.6 114.0 26.5 37.5
[0,125,0] First 357.2 98.0 603.0 32.4 307.0 39.3 194.0 12.0 37.5
[0,125,0] Second 341.6 226.0 331.0 237.1 69.3 160.6 224.9 14.2 37.5
[0,0,− 125] No watch 0.0 271.8 595.5 560.7 245.1 102.1 1.8 201.5 0.0
[0,0,− 125] First 18.3 515.0 122.9 324.2 144.0 426.7 24.4 181.7 0.0
[0,0,− 125] Second 33.3 387.6 404.0 404.1 116.7 333.3 10.8 187.4 0.0