Fig. 6From: Development of an actuation system based on water jet propulsion for a slim long-reach robotDescription of the variables considerer for the analysis. The elements that generate the thrust force \(F_T\) are the pressures \(P_i\), \(P_o\) and the flow of water at the inlet and outlet whose velocities are \(v_i\) and \(v_o\) respectivelyBack to article page