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. Author manuscript; available in PMC: 2018 Feb 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2016 Sep 22;22(1):465–475. doi: 10.1109/TMECH.2016.2612833

Fig. 2.

Fig. 2

Diagram of partition method: The cutting planes are defined and the red and black parts stand for the flexible links and the rigid links, respectively.