| Parameters | Values |
| m1, m2, m3, m4, m5 (kg) | 0.0439, 0.02343, 0.5919, 0.5919, 0.09633 | Jp1, Jd1 (kg⋅m2) | 2.957 × 10–6, 3.196 × 10–6 | Jp2, Jd2 (kg⋅m2) | 0.2929 × 10–6, 2.966 × 10–6 | Jp3, Jd3 (kg⋅m2) | 4.735 × 10–4, 2.478 × 10–4 | Jp4, Jd4 (kg⋅m2) | 4.735 × 10–4, 2.478 × 10–4 | Jp5, Jd5 (kg⋅m2) | 7.526 × 10–6, 8.780 × 10–6 | η (Pa⋅s) | 0.04 | kblx, kbly (N/m) | 2 × 108, 2 × 108 | cblx, cbly (N⋅s/m) | 2 × 103, 2 × 103 | C, D, L (mm) | 0.3, 25, 10 |
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