Walter D’Ambrogio and Annalisa Fregolent Fig. 9 Rotational mobility at the coupling DoF of subsystem A: true (—), computed from fitted perturbed FRF (∗∗∗) using collocated approach with internal DoF θ1 0 20 40 60 80 100 120 140 160 180 200 10−5 100 105 Frequency [Hz] Magnitude [rad s−1/(N m)] 0 20 40 60 80 100 120 140 160 180 200 −4 −2 0 2 4 Frequency [Hz] Phase [rad] Fig. 10 Rotational mobility at the coupling DoF of subsystem A: true (—), computed from fitted perturbed FRF (∗∗∗) using primal formulation with compatibility at DoFs θ1 and θ5 and equilibrium at the coupling DoF θ5 0 20 40 60 80 100 120 140 160 180 200 10−5 100 105 Frequency [Hz] Magnitude [rad s−1/(N m)] 0 20 40 60 80 100 120 140 160 180 200 −4 −2 0 2 4 Frequency [Hz] Phase [rad] Fig. 11 Rotational mobility at the coupling DoF of subsystem A: true (—), computed from fitted perturbed FRF (∗∗∗) using dual formulation with compatibility at DoFs θ1 and θ5 and equilibrium at the coupling DoF θ5 0 20 40 60 80 100 120 140 160 180 200 10−5 100 105 Frequency [Hz] Magnitude [rad s−1/(N m)] 0 20 40 60 80 100 120 140 160 180 200 −4 −2 0 2 4 Frequency [Hz] Phase [rad] 68
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