Symbol

Description

Units

J_DM

Inertia of drive mechanism

kg-m²

T_DM

Torque of drive mechanism

Nm

a_DM

Rotational acceleration

rad/s²

h

Efficiency of drive mechanism

J_Load

Inertia of load + payload

kg-m²

T_Thrust

Thrust torque at load

N-m

J_DP

Inertia of drive pulley

kg-m²

J_DnP

Inertia of driven pulley

kg-m²

J_IP

Inertia of idler pulley

kg-m²

r_DP

Radius of drive pulley

m

r_DnP

Radius of driven pulley

m

r_IP

Radius of idler pulley

m