Update many files

PhDthesis were categorized as articles.
Add "fron matter" to specify zettels category

content/phdthesis/afzali-far16_vibrat_dynam_isotr_hexap_analy_studies.md

@@ -1,14 +1,14 @@
 +++
 title = "Vibrations and dynamic isotropy in hexapods-analytical studies"
 author = ["Thomas Dehaeze"]
-draft = true
+draft = false
 +++
 
 Tags
 : [Stewart Platforms]({{<relref "stewart_platforms.md#" >}}), [Isotropy of Parallel Manipulator]({{<relref "isotropy_of_parallel_manipulator.md#" >}})
 
 Reference
-: ([Afzali-Far 2016](#orga93b30a))
+: ([Afzali-Far 2016](#orge2f1c73))
 
 Author(s)
 : Afzali-Far, B.
@@ -95,7 +95,7 @@ Dynamic isotropy for the Stewart platform leads to a series of restrictive condi
 
 When considering inertia of the struts, conditions are becoming more complex.
 
-<a id="org64466c7"></a>
+<a id="org51c1dc1"></a>
 
 {{< figure src="/ox-hugo/afzali-far16_isotropic_hexapod_example.png" caption="Figure 1: Architecture of the obtained dynamically isotropic hexapod" >}}
 
@@ -115,25 +115,28 @@ where \\(\sigma I\\) is a scaled identity matrix.
 The isotropic constrain of the standard hexapod imposes special inertia of the top platform which may not be wanted in practice (\\(I\_{zz} = 4 I\_{yy} = 4 I\_{xx}\\)).
 
 A class of generalized Gough-Stewart platforms are proposed to eliminate the above constrains.
-Figure [2](#orgfab85fb) shows a schematic of proposed generalized hexapod.
+Figure [2](#org14fbbb3) shows a schematic of proposed generalized hexapod.
 
-<a id="orgfab85fb"></a>
+<a id="org14fbbb3"></a>
 
 {{< figure src="/ox-hugo/afzali-far16_proposed_generalized_hexapod.png" caption="Figure 2: Parametrization of the proposed generalized hexapod" >}}
 
 
 ## Conclusions {#conclusions}
 
-<summary>
+<div class="sum">
+  <div></div>
+
 The main findings of this dissertation are:
 
 -   Comprehensive and fully parametric model of the hexapod for symmetric configurations are established both in the Cartesian and joint space.
 -   Inertia of the struts are taken into account to refine the model.
 -   A novel approach in order to obtain dynamically isotropic hexapods is proposed.
--   A novel architecture of hexapod is introduced (Figure [2](#orgfab85fb)) which is dynamically isotropic for a wide range of inertia properties.
-</summary>
+-   A novel architecture of hexapod is introduced (Figure [2](#org14fbbb3)) which is dynamically isotropic for a wide range of inertia properties.
+
+</div>
 
 
 ## Bibliography {#bibliography}
 
-<a id="orga93b30a"></a>Afzali-Far, Behrouz. 2016. “Vibrations and Dynamic Isotropy in Hexapods-Analytical Studies.” Lund University.
+<a id="orge2f1c73"></a>Afzali-Far, Behrouz. 2016. “Vibrations and Dynamic Isotropy in Hexapods-Analytical Studies.” Lund University.