Hopefully, Nick or someone else here with real engineering knowledge will correct everything I get wrong in this answer, so here goes...
It seems to me that the each blade would flap on the "coning" hinge, and then the balance of forces applyed to each coning hinge would then teeter the hub on the teetering hinge.
At the factory course (if my memory serves) they claim that all the movement on the coning hinges ceases after the disk is coned, and that all further flapping (flapping to equality) to takes place on the teetering hinge.
The Robinson rotorhead is always called semi-rigid, but I prefer the term semi-articulated.
