Table 4 The allowable design values of the geometrical and pressure angle constraints.

From: A digital design framework for the dimensional optimization of parallel robots based on kinematic and elasto-dynamic performance

Constraint

\([{\phi ^ - }]\)

\([{\phi ^{\text{+}}}]\)

\([\alpha ]\)

\([\beta ]\)

\({e_{\rm min}}\)

Values

\(- {45^ \circ }\)

\({90^ \circ }\)

\({45^ \circ }\)

\({60^ \circ }\)

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