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Actuators

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𝑃𝑖 ∗ 𝐴ℎ = 𝐹

𝑃𝑥 ∗ 𝐴ℎ = 𝐹 + 𝑃𝑥 ∗ 𝐴𝑟

𝑃𝑥 ∗ 𝐴ℎ = 𝑃𝑖 ∗ 𝐴ℎ + 𝑃𝑥 ∗ 𝐴𝑟

𝐴ℎ
𝑃𝑥 = 𝑃𝑖 ∗
𝐴ℎ − 𝐴𝑟

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𝑣𝑥 𝑣𝑒
𝐴ℎ 𝐴𝑟 𝐴ℎ 𝐴𝑟

𝑄𝑖𝑛 𝑄𝑅

𝑄𝑃 = 𝑣𝑒 ∗ 𝐴ℎ

𝑄𝑖𝑛 = 𝑄𝑅 + 𝑄𝑃

𝑣𝑥 ∗ 𝐴ℎ = 𝑣𝑥 ∗ 𝐴𝑟 + 𝑣𝑒 ∗ 𝐴ℎ
𝑄𝑃 𝑄𝑃
𝐴ℎ
𝑣𝑥 = 𝑣𝑒 ∗
𝐴ℎ − 𝐴𝑟

Actuators
𝑣𝑥 𝑣𝑒
𝐴ℎ 𝐴𝑟 𝐴ℎ 𝐴𝑟

𝑄𝑖𝑛 𝑄𝑅

𝑃𝑖 ∗ 𝐴ℎ = 𝐹

𝑃𝑥 ∗ 𝐴ℎ = 𝐹 + 𝑃𝑥 ∗ 𝐴𝑟

𝑃𝑥 ∗ 𝐴ℎ = 𝑃𝑖 ∗ 𝐴ℎ + 𝑃𝑥 ∗ 𝐴𝑟
𝑄𝑃 𝑄𝑃
𝐴ℎ
𝑃𝑥 = 𝑃𝑖 ∗
𝐴ℎ − 𝐴𝑟

Actuators

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