|
Symbol
|
Description
|
Units
|
|
JDM
|
Inertia of drive mechanism
|
kg-m2
|
|
TDM
|
Torque of drive mechanism
|
Nm
|
|
|
Rotational acceleration
|
rad/s2
|
|
|
Efficiency of drive mechanism
|
|
|
|
Incline angle above horizontal
|
|
|
g
|
Acceleration due to gravity =
9.81
|
m/s2
|
|
|
Rack friction coefficient
|
|
|
mLoad
|
Mass of load + payload
|
kg
|
|
mCB
|
Mass of counterbalance
|
kg
|
|
mRack
|
Mass of rack
|
kg
|
|
rPinion
|
Radius of pinion
|
m
|
|
mPinion
|
Mass of pinion
|
kg
|
|
JPinion
|
Inertia of pinion
|
kg-m2
|
