|
Symbol
|
Description
|
Units
|
|
JDM
|
Inertia of drive mechanism
|
kg-m2
|
|
TDM
|
Torque of drive mechanism
|
Nm
|
|
aDM
|
Acceleration of drive mechanism
|
rad/s2
|
|
|
Efficiency of drive mechanism
|
|
|
FThrust
|
Thrust force
|
N
|
|
mLoop
|
Mass of loop
|
kg
|
|
g
|
Acceleration due to gravity =
9.81
|
m/s2
|
|
JDR
|
Inertia of drive roll
|
kg-m2
|
|
JPR
|
Inertia of pinch roll
|
kg-m2
|
|
nDR
|
Number of drive rolls
|
kg-m2
|
|
nPR
|
Number of pinch rolls
|
kg-m2
|
|
rDR
|
Radius of drive roll
|
m
|
|
rPE
|
Radius of pinch roll
|
m
|
