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| Meaning | Symbol |
|
| Distance between hinge axes A1 and A2 | a |
| Distance between hinge axes A2 and A3 | b |
| Distance between hinge axes A3 and A1 | c |
| Distance between hinge axes C1 and C2 | d |
| Distance between hinge axes C2 and C3 | e |
| Distance between hinge axes C3 and C1 | f |
| Lengths of the active rods AiBi | li |
| Length of the passive rod BiCi | li+3 |
| Global coordinates of the points Ai | (xAi, yAi) |
| Global coordinates of the points Bi | (xBi, yBi) |
| Global coordinates of the points Ci | (xCi, yCi) |
| Local coordinates of the points Ci | (xCi′, yCi′) |
| Global coordinate of the central point G7 of the moving platform | (x, y) |
| Global coordinates of the points Gi | (xGi, yGi) |
| Global coordinates of the points G(i+3) | (xG(i+3),yG (i+3)) |
| Orientation angle of the moving platform | Θ |
| Rotation angle of the active rod AiBi | θi |
| Angular velocities of the active rod AiBi | ωi |
| Rotation angle of the passive rod BiCi | θi+3 |
| Angular acceleration of the active rod AiBi | αGi |
| Angular acceleration of the passive rod BiCi | αG (i+3) |
| Angular acceleration of the moving platform | αG7 |
| Acceleration of the central points Gi of the active rod AiBi | aGi |
| Acceleration of the central points G(i+3) of the passive rod BiCi | aG(i+3) |
| Acceleration of the central point G7 of the moving platform | aG7 |
| Masses of the active rod AiBi | mGi |
| Masses of the passive rod BiCi | mG(i+3) |
| Masses of the moving platform | mG7 |
| The x-direction inertia forces of the active rod AiBi | FGix |
| The y-direction inertia forces of the active rod AiBi | FGiy |
| The x-direction inertia forces of the passive rod BiCi | FG(i+3)x |
| The y-direction inertia forces of the passive rod BiCi | FG(i+3)y |
| The x-direction inertia forces of the moving platform | FG7x |
| The y-direction inertia forces of the moving platform | FG7y |
| Rotary inertia round the centroidal axis of the active rod AiBi | JGi |
| Rotary inertia round the centroidal axis of the passive rod BiCi | JG (i+3) |
| Rotary inertia round the centroidal axis of the moving platform | JG7 |
| Moment of inertia of the active rod AiBi | MGi |
| Moment of inertia of the passive rod BiCi | MG(i+3) |
| Moment of inertia of the moving platform | MG7 |
| The x-direction external force of the moving platform | Fex |
| The y-direction external force of the moving platform | Fey |
| External moment of the moving platform | Me |
| The x-direction internal forces at the point Bi | FBix |
| The y-direction internal forces at the point Bi | FBiy |
| The x-direction internal forces at the point Ci | FCix |
| The y-direction internal forces at the point Ci | FCiy |
| Driving moments of the active rod AiBi | τi |
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