|
Symbol
|
Description
|
Units
|
|
JDM
|
Inertia of drive mechanism
|
kg-m2
|
|
TDM
|
Torque of drive mechanism
|
Nm
|
|
|
Rotational acceleration
|
rad/s2
|
|
|
Efficiency of stage 1 belt
transmission
|
|
|
|
Efficiency of stage 2 belt
transmission
|
|
|
|
Incline angle above horizontal
|
|
|
|
Friction coefficient for stage 1
|
|
|
|
Friction coefficient for stage 2
|
|
|
g
|
Acceleration due to gravity =
9.81
|
m/s2
|
|
mLoad
|
Mass of load + payload
|
kg
|
|
mCB
|
Mass of counterbalance
|
kg
|
|
mBelt1
|
Mass of belt 1
|
kg
|
|
mBelt2
|
Mass of belt 2
|
kg
|
|
mStage1
|
Mass of stage 1
|
kg
|
|
mStage2
|
Mass of stage 2
|
kg
|
|
mIP3
|
Mass of idler pulley 3
|
kg
|
|
mIP4
|
Mass of idler pulley 4
|
kg
|
|
JDP
|
Inertia of drive pulley
|
kg-m2
|
|
JIP1
|
Inertia of idler pulley 1
|
kg-m2
|
|
JIP2
|
Inertia of idler pulley 2
|
kg-m2
|
|
JIP3
|
Inertia of idler pulley 3
|
kg-m2
|
|
JIP4
|
Inertia of idler pulley 4
|
kg-m2
|
|
rDP
|
Radius of drive pulley
|
m
|
|
rIP1
|
Radius of idler pulley 1
|
m
|
|
rIP2
|
Radius of idler pulley 2
|
m
|
|
rIP3
|
Radius of idler pulley 3
|
m
|
|
rIP4
|
Radius of idler pulley 4
|
m
|
