3000
2500
2000
Load (N)
1500
1000
500
0
-500
0
20
40
60
80
100
120
140
160
Time (ms)
3000
2500
2000
Load (N)
3000
2500
2000
Load (N)
Q3 in CRS F
Q3 in CRS G
1500
1000
500
1500
1000
-500
500
20
40
60
80
100
-500
0
20
40
60
80
100
120
140
140
160
160
Time (ms)
50
Q3 in CRS F
40
Q3 in CRS G
Moment (Nm)
120
Time (ms)
30
20
10
0
1500
-10
1000
-20
0
500
20
40
60
80
100
120
140
160
Time (ms)
-500
0
20
40
60
80
100
120
140
160
Time (ms)
Q3 in CRS F
Q3 in CRS G
50
Moment (Nm)
40
30
20
10
0
-10
-20
0
20
40
60
80
100
120
140
160
Time (ms)
Tanaka,