Table 1 Parameters of the designed mechanism
From: A Wire-Driven Series Elastic Mechanism Based on Ultrasonic Motor for Walking Assistive System
Parameter | Value |
|---|---|
Radius of Pulley1 r1 (mm) | 9.5 |
Radius of Pulley2 r2 (mm) | 9.5 |
Radius of Pulley3 r3 (mm) | 25 |
Radius of Pulley4 r4 (mm) | 15 |
Distance from Pulley1 to the origin R1 (mm) | 75 |
Distance from Pulley2 to the origin R (mm) | 40 |
Distance from Pulley4 to the origin R4 (mm) | 70 |
Angle of Pulley1 φ1 (°) | 15 |
Angle of Pulley4 φ4 (°) | 105 |