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1. Observation of operation
1.1 Transmission error: definition, calculation, measurement and simulation
Relative to an angular reference θ
i0
on each pulley i at an initial instant noted 0, the actual angular position of the pulleys at a given instant j is noted θ
ij
. Due to various effects, mainly geometric, there is a discrepancy between the theoretical position and the actual position; the transmission error between pulleys i and i + n is introduced:
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Observation of operation
Element characterization
