“…The geometric model of the revolute joint and the prismatic joint is shown in Figure 8, where R n is the friction arm, R p is the pin radius, R b is the bending reaction arm, τ r u is the magnitude of the constraint torque of the constraint axis of the revolute joint, f r u is the magnitude of the constraint force of the constraint axis of the revolute joint, f m u is the magnitude of the constraint force of the motion axis of the revolute joint, f p u is the magnitude of the constraint force of the constraint axis of the prismatic joint, τ p u is the magnitude of the constraint torque of the constraint axis of the prismatic joint, and τ m u is the magnitude of the constraint torque of the motion axis of the prismatic joint. According to Equation (39), the analysis of τ r u of the revolute joint and f p u of the prismatic joint has been completed. Next, f r u and f m u of the revolute joint and τ p u and τ m u of the prismatic joint will be analyzed.…”