Establishing the Improved Dynamic Model for the Extracorporeal Ultrasonic Lithotripsy Medical Cooperative Robot

Table 3

The parameters of the dynamic model.

Designation		Unit	Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6
Generalized displacement	x	mm	0	0	0	0	0	0
	y	mm	0	0	−254	0	0	0
	z	mm	420	0	0	469	111	251
Mass center	x	mm	0	127	0	0	0	0
	y	mm	0	0	−58.46	0	58.30	0
	z	mm	−100	147	0	−85	0	0
Joint quality		kg	12.8	12.8	7.6	7.6	5.6	5.6
Inertia tensor			Equation (4a)	Equation (4b)	Equation (4c)	Equation (4d)	Equation (4e)	Equation (4f)
Initial conditions		, , , ,