High-Efficiency Dynamic Modeling of a Helical Spring Element Based on the Geometrically Exact Beam Theory

Table 1

Geometrical properties and material properties of the variable pitch spring.

Properties	Young’s modulus	Poisson coefficient	Density	Middle helix diameter	Wire diameter	Active coil number	Pitches (m)
	2.10 × 10^11 Pa	0.3	7800 kg/m^3	0.04	0.004	4	[0.01, 0.02, 0.03, 0.04]