Table 1: Geometric and inertial properties of the considered 3-CPU mechanism.

Geometric parameters

93.5 mm
106.07 mm

Main inertial parameters

End-effector mass3.893·10-1 kg
End effector inertia matrix with respect to the coordinate frame
Mass of the leg link 1  kg
Moment of inertia of the leg link 1 about its cylindrical joint axis  kgm2
Mass of the leg link 2  kg
Moment of inertia of the leg link 2 about its principal axis parallel to the cylindrical joint axis of the same leg  kgm2
Mass of the universal joint cross  kg