Table 1 Posture parameter samples
From: Dynamic Accuracy Analysis of a 5PSS/UPU Parallel Mechanism Based on Rigid-Flexible Coupled Modeling
Sample number | γ (rad) | β(rad) | n1x (mm) | n1y (mm) | n1z (mm) | l1 (mm) |
|---|---|---|---|---|---|---|
1 | 0.0217 | 0.0217 | − 0.5622 | 0.0093 | 0.8270 | 8.6538 |
2 | 0.0468 | 0.0468 | − 0.5354 | 0.0196 | 0.8444 | 19.6880 |
3 | 0.0672 | 0.0672 | − 0.5127 | 0.0280 | 0.8581 | 29.3322 |
4 | 0.0811 | 0.0811 | − 0.4970 | 0.0337 | 0.8671 | 36.2070 |
5 | 0.0871 | 0.0871 | − 0.4902 | 0.0362 | 0.8709 | 39.2365 |
6 | 0.0845 | 0.0845 | − 0.4931 | 0.0351 | 0.8692 | 37.9234 |
7 | 0.0737 | 0.0737 | − 0.5055 | 0.0307 | 0.8623 | 32.4848 |
8 | 0.0556 | 0.0556 | − 0.5257 | 0.0233 | 0.8504 | 23.7929 |