|
Symbol
|
Description
|
Units
|
|
JDM
|
Inertia of drive mechanism
|
kg-m2
|
|
TDM
|
Torque of drive mechanism
|
Nm
|
|
|
Rotational acceleration
|
rad/s2
|
|
|
Efficiency of drive mechanism
|
|
|
JCoupling
|
Inertia of coupling
|
kg-m2
|
|
JDisc
|
Inertia of disc
|
kg-m2
|
|
JLoad
|
Inertia of load + payload
|
kg-m2
|
|
TThrust
|
Thrust torque at load
|
Nm
|
|
|
Motion profile position
|
o
|
|
|
Start angle
|
o
|
|
|
Incline angle above horizontal
|
|
|
g
|
Acceleration due to gravity =
9.81
|
m/s2
|
| r
|
Offset radius
|
m
|
|
M
|
Mass of unbalanced load
|
kg
|
|
g
|
Acceleration due to gravity =
9.81
|
m/s2
|
|
Fr
|
Radial force
|
N
|
|
Fa
|
Axial force
|
N
|
