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Clustering is a software level thing so typically doesn't require exactly the same hardware (except that hardware which you include in cluster such as SAN disks). Other hardware considerations would of course be available NICs for interconnects and virtual IPs.
It is quite common to have a robust server as the primary node and a lesser server as the failover node. It allows you to suffer only performance degradation in the event of an outage of the primary node.
In fact on earlier Sun hardware we setup such an arrangement and later due to performance needs actually made both nodes active.