According to the kinematic relationship established in Section 3.1, the kinetic energy of each link mechanism of the micro-motion platform and the rigid rod rotating around the Z axis can be expressed as:
According to the motion relationship established in section 3.1, the dynamic energy of the connecting mechanism and rigid rod of the micro-dynamic platform around the Z axis can be expressed as:
According to the kinematic relationship established in Section 3.1, the kinetic energy of each connecting rod mechanism and rigid rod rotating around the z-axis of the micro motion platform can be expressed as:<br>