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Table 2 Motion variable for the n-layer bio-inspired leg suspension model

From: A tracked robot with novel bio-inspired passive “legs”

Symbol Structural parameters Unit
y Absolute motion of loading mass m
z Bottom excitation m
\(\hat{y}\) Relative motion of loading mass and bottom m
φ Rotational motion rad
x Horizontal translational motion m
z 0 Amplitude of bottom excitation z m
ω 0 Frequency of bottom excitation z rad s−1
ϕ Phase of relative motion ŷ  
a Amplitude of relative motion ŷ  
T d Displacement transmissibility