Dynamics Behavior Analysis of Parallel Mechanism with Joint Clearance and Flexible Links

Table 2

The parameters of 4-UPS-RPS parallel mechanism.

Parameter	Value
Socket radius	0.0152 m
Clearance value	0.0002 m
The length of swing rod	0.760 m
The length of telescopic rod	0.840116 m
The cross section radius of telescopic rod	0.04 m
Integral tolerance	0.000001 s
Integral step	0.001 s
The principal moment of inertia of the telescopic rod	kg⋅m^4
	kg⋅m^4
	kg⋅m^4
Ball radius	0.015 m
Recovery coefficient	0.9
Friction coefficient	0.05
Young’ modulus , ,	200 Gpa
Shear elastic modulus	80 Gpa
Poisson’s ratio ,	0.29
The mass of moving platform	36.28 kg
The moment of inertia of the moving platform	kg⋅m^2
	kg⋅m^2
	kg⋅m^2