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@@ -53,7 +53,7 @@ In order to provide low frequency passive vibration isolation, the hard actuator
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<a id="table--tab:mcinroy99-strut-model"></a>
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<div class="table-caption">
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<span class="table-number"><a href="#table--tab:mcinroy99-strut-model">Table 1</a>:</span>
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Definition of quantities on <a href="#orgfe6d4ea">2</a>
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Definition of quantities on <a href="#orgf3f08ed">2</a>
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</div>
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| **Symbol** | **Meaning** |
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@@ -142,7 +142,7 @@ where:
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- \\(\mathcal{F}\_e\\) represents a vector of exogenous generalized forces applied at the center of mass
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- \\(g\\) is the gravity vector
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By combining \ref{eq:strut\_dynamics\_vec}, \ref{eq:payload\_dynamics} and \ref{eq:generalized\_force}, a single equation describing the dynamics of a flexure jointed hexapod can be found:
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By combining \eqref{eq:strut\_dynamics\_vec}, \eqref{eq:payload\_dynamics} and \eqref{eq:generalized\_force}, a single equation describing the dynamics of a flexure jointed hexapod can be found:
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\begin{aligned}
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& {}^UJ^T [ f\_m - M\_s \ddot{l} - B \dot{l} - K(l - l\_r) - M\_s \ddot{q}\_u\\\\
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