Table 1 Inertial and geometrical properties of the four-bar mechanism model
Part name | Length (m) | Mass (kg) | Moment of inertia (kg·m2) |
|---|---|---|---|
Crank | 0.10 | 0.46 | \(I_{1} { = }0.0019\) |
Coupler | 0.40 | 1.45 | \(I_{2} = 0.0927\) |
Follower | 0.30 | 1.50 | \(\left[ {\begin{array}{*{20}c} {I_{3x} = 0.0{317}} & {} & {} \\ {} & {I_{3y} = 0.000{4}} & {} \\ {} & {} & {I_{3z} = 0.0{317}} \\ \end{array} } \right]\) |
Ground | 0.30 | – | – |