Dynamics behavior analysis of spatial parallel coordinate measuring mechanism with spherical clearance joints

Open Access

Table 1

design parameters of SPCMM.

Structural Parameter	Numerical	Structural Parameter
Circumscribed circle radius of terminal platform (cm)	5.2	Rotary inertia of driving rod (kg · m²)
(cm) PiSi	2.8
(cm) SiRi	20	Rotary inertia of driven rod (kg · m²)
Mass of driving rod (kg)	0.168
Mass of driven rod (kg)	0.384	Rotary inertia of terminal platform (kg · m²)
Mass of terminal platform (kg)	0.490

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