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Based on mathematical induction, we can prove that the eigenvalues of a special nth order circulant matrix are degenerate. Hence the eigenvibration problem of an n degree-of-freedom symmetrically coupled system with equal masses and equal spring stiffnesses can be solved by direct inspection of the system schematic.

The kinetic characteristics of grippers for industrial robots are studied. Determination of the input‐output force of grippers and calculations of gripping force for different combinations of gripper's posture and workpiece orientation are included.

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