$n˙=1e[r˙1+R˙1sb11−r˙6−R˙6sA16]=1e[r˙1+R1(ω¯1×sb11)−r˙6−R6(ω¯6×sA16)]$
(6a)

$Fx=FN sin θz sin θy+Ft cos θz cos θy$
(28)

$ω=ar cos lzl6zlz⋅l6z,l6z=R6[00z]T$
(42)

The unit in Figs. 15, 17, and 19 should be meters (m) and in Figs. 16 and 18 should be millimeters (mm).