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 |