Fig. 3

Angular velocities of actuators in the ePaddle-EGM under different initial conditions. a λ = 320 mm, T = 2 s, ξ = 0.75, j = 0.5. b λ = 165 mm, T = 2 s, ξ = 0.75, j = 0.5. The dotted line, the dash line and the dot-and-dash line are for the sun gear, the ring gear and the wheel respectively