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. Author manuscript; available in PMC: 2021 Dec 1.
Published in final edited form as: Int J Rob Res. 2021 Mar 15;40(6-7):923–938. doi: 10.1177/0278364921997167

Fig. 6.

Fig. 6.

Water-jet actuation system: the force vectors generated by the jets lay on the tip xy-plane and are ideally spaced 120° from each other. The parameters δα, δβ, δγ describe the jets mis-alignment, with respect to the ideal case, due to manufacturing imperfections.