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. 2018 Mar 2;9(3):108. doi: 10.3390/mi9030108

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© 2018 by the authors.

Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).

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The simplified plane rigid frame for the thermal actuator structure showing the three redundants $X_{1}$ , $X_{2}$ and $X_{3}$ . The virtual force P applied at the free end of the actuator as part of the force method is also indicated.