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Table 1 Parameters of the 5-PSS/UPU parallel mechanism

From: Dynamic Modeling and Analysis of 5-PSS/UPU Parallel Mechanism with Elastically Active Branched Chains

Parameters

Symbol

Values

Circumscribed circle radius of moving platform (mm)

\(r\)

306

Mass of moving platform (kg)

\(m\)

8.2

Moment of moving platform (kg·m2)

\(\varvec{I}_{p}\)

diag(0.24, 0.24, 0.47)

Circumscribed circle radius of pedestal (mm)

\(R\)

686

Angle between the linear motor and the pedestal (rad)

\(\theta\)

π/6

Mass of the flexible link (kg)

\(m_{l}\)

2.5

Cross-sectional area of flexible link (mm2)

\(S_{ab}\)

2826

Length of flexible link (mm)

\(L_{ab}\)

520

Mass density of flexible link (kg·m2)

\(\rho_{ab}\)

7.9×103

Elastic modulus of flexible link (Pa)

\(E_{ab}\)

2.06×1011

Shearing modulus of flexible link (Pa)

\(G_{ab}\)

7.94×1010

Moment of flexible link (kg·m2)

\(\varvec{I}_{li}\)

diag(0.057, 0.057, 0.00078)

Cross-sectional area of linear screw (mm2)

\(S_{L}\)

1256

Length of linear screw (mm)

\(L_{s}\)

432

Lead of the linear screw (mm)

\(P\)

10

Mass density of linear screw (kg·m2)

\(\rho_{L}\)

7.9×103

Elastic modulus of linear screw (Pa)

\(E_{s}\)

2.19×1011

Shearing modulus of linear screw (Pa)

\(G_{s}\)

8.44×1010

Mass of slider (kg)

\(m_{o}\)

0.84