freeCAD: 3D CAD with Motion Simulation by askoh.com Assembly Notes (Text string: '' runs: (Core.RunArray runs: #() values: #())) Name Peg Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Velocity3D 0.0 0.0 0.0 Omega3D 0.0 0.0 0.0 RefPoints RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D 0.0 0.0 -0.655 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker2 Position3D 0.9 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker3 Position3D 1.15 0.0 -0.11 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker4 Position3D 0.9 -0.4 -0.31 RotationMatrix 1.0 0.0 0.0 0.0 1.0 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1.1102230246252e-16 1.0 Markers Marker Name Marker2 Position3D 4.9960036108132e-17 9.9920072216264e-17 0.1 RotationMatrix -1.0 -2.1076890233118e-16 -4.4408920985006e-16 -8.7603535536829e-17 1.0 -6.3837823915947e-16 2.4980018054066e-16 -4.7184478546569e-16 -1.0 RefCurves RefSurfaces Part Name tip2 Position3D 0.90007957744497 0.051978039109814 0.012984857906395 RotationMatrix -2.9222052467323e-16 -1.0 -5.5511151231258e-16 -1.0 2.9222052467323e-16 -3.3306690738755e-16 3.3306690738755e-16 5.5511151231258e-16 -1.0 Velocity3D 0.12499999994693 -0.14999999993518 -3.6719226791441e-11 Omega3D 4.3807856455281e-27 -4.4271686737546e-27 -3.1572081662039e-27 FeatureOrder Extrusion zStart 0.0 zEnd 0.1 Sketch Name Sketch1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Graphics Rectangle Position2D -0.005 -0.005 Angle 0.0 xLength 0.01 yLength 0.01 PrincipalMassMarker Name MassMarker Position3D 0.0 0.0 0.05 RotationMatrix 0.0 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 Mass 1.0e-4 MomentOfInertias 1.6666666666667e-9 8.4166666666667e-8 8.4166666666667e-8 Density 10.0 RefPoints RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 -5.5511151231258e-17 -2.7755575615629e-17 -1.3877787807814e-17 3.3306690738755e-16 1.0 1.6653345369377e-16 -1.0 8.3266726846887e-17 RefCurves RefSurfaces Part Name waist Position3D 7.4770863556733e-17 5.6249071914564e-16 9.4368957093138e-16 RotationMatrix 0.99315995725861 0.11676172017436 5.5511151231258e-17 -0.11676172017436 0.99315995725861 3.885780586188e-16 0.0 -3.885780586188e-16 1.0 Velocity3D 7.2177854556616e-17 -1.0131355810658e-17 -5.5334404920367e-19 Omega3D -8.673617379884e-18 -8.673617379884e-18 -0.15032290613663 FeatureOrder Extrusion zStart -0.655 zEnd 0.0 Sketch Name Sketch1 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Graphics Circle Position2D 0.0 0.0 Angle 0.0 Radius 0.2 PrincipalMassMarker Name MassMarker Position3D 0.0 0.0 -0.3275 RotationMatrix 0.0 1.0 0.0 0.0 0.0 1.0 1.0 0.0 0.0 Mass 0.80210447423723 MomentOfInertias 0.015635045701053 0.036494428855495 0.036494428855495 Density 10.0 RefPoints RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker1 Position3D -7.852385328024e-18 -2.9424438434684e-16 -0.655 RotationMatrix 1.0 2.4980018054066e-16 1.1988374546602e-17 3.1918911957973e-16 1.0 4.492280677051e-16 1.1988374546602e-17 4.492280677051e-16 1.0 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker2 Position3D -0.245 0.154 -0.25 RotationMatrix 1.0 -1.1988374546602e-17 2.4980018054066e-16 3.1918911957973e-16 -2.2718346278007e-16 1.0 1.1988374546602e-17 -1.0 6.7127267263013e-16 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker3 Position3D -0.245 -0.154 -0.25 RotationMatrix 1.0 -1.1988374546602e-17 2.4980018054066e-16 3.1918911957973e-16 -2.2718346278007e-16 1.0 1.1988374546602e-17 -1.0 6.7127267263013e-16 RefPoint Position3D 0.0 0.0 0.0 RotationMatrix 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 Markers Marker Name Marker4 Position3D 0.0 0.0 0.0 RotationMatrix 1.0 -1.1988374546602e-17 2.4980018054066e-16 3.1918911957973e-16 -2.2718346278007e-16 1.0 1.1988374546602e-17 -1.0 6.7127267263013e-16 RefCurves RefSurfaces KinematicIJs ConstraintSets Joints FixedJoint Name FixTable MarkerI /Peg/Marker4 MarkerJ /Peg/Part12/Marker1 RevoluteJoint Name Joint1 MarkerI /Peg/Marker1 MarkerJ /Peg/waist/Marker1 RevoluteJoint Name Joint10 MarkerI /Peg/cylinder/Marker2 MarkerJ /Peg/block/Marker1 RevoluteJoint Name Joint11 MarkerI /Peg/block/Marker2 MarkerJ /Peg/endcyl/Marker1 RevoluteJoint Name Joint2 MarkerI /Peg/waist/Marker4 MarkerJ /Peg/chest/Marker1 RevoluteJoint Name Joint3 MarkerI /Peg/chest/Marker2 MarkerJ /Peg/link/Marker1 RevoluteJoint Name Joint4 MarkerI /Peg/link/Marker2 MarkerJ /Peg/cylinder/Marker1 RevoluteJoint Name Joint6 MarkerI /Peg/endcyl/Marker2 MarkerJ /Peg/finger/Marker1 RevoluteJoint Name Joint7 MarkerI /Peg/endcyl/Marker3 MarkerJ /Peg/finger2/Marker1 RevoluteJoint Name Joint8 MarkerI /Peg/finger/Marker2 MarkerJ /Peg/tip/Marker1 RevoluteJoint Name Joint9 MarkerI /Peg/finger2/Marker2 MarkerJ /Peg/tip2/Marker1 Motions RotationalMotion Name Motion1 MotionJoint /Peg/Joint9 RotationZ -1*("((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 2))))*((((-1) - (-1))/(2 - (-1000)))*(time - (-1000)) + (-1))+((1/pi)*(arctan(1000*(time - 2)) - arctan(1000*(time - 3))))*((((-0.5) - (-1))/(3 - 2))*(time - 2) + (-1))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 6))))*((((-0.5) - (-0.5))/(6 - 3))*(time - 3) + (-0.5))+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 7))))*((((-1) - (-0.5))/(7 - 6))*(time - 6) + (-0.5))+((1/pi)*(arctan(1000*(time - 7)) - arctan(1000*(time - 12))))*((((-1) - (-1))/(12 - 7))*(time - 7) + (-1))+((1/pi)*(arctan(1000*(time - 12)) - arctan(1000*(time - 13))))*((((-0.5) - (-1))/(13 - 12))*(time - 12) + (-1))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 16))))*((((-0.5) - (-0.5))/(16 - 13))*(time - 13) + (-0.5))+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 17))))*((((-1) - (-0.5))/(17 - 16))*(time - 16) + (-0.5))+((1/pi)*(arctan(1000*(time - 17)) - arctan(1000*(time - 1000))))*((((-1) - (-1))/(1000 - 17))*(time - 17) + (-1))) GeneralMotion Name Motion2 MarkerI /Peg/Marker2 MarkerJ /Peg/endcyl/Marker4 rIJI1 "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 0))))*(((0 - 0)/(0 - (-1000)))*(time - (-1000)) + 0)+((1/pi)*(arctan(1000*(time - 0)) - arctan(1000*(time - 1))))*(((0.25 - 0)/(1 - 0))*(time - 0) + 0)+((1/pi)*(arctan(1000*(time - 1)) - arctan(1000*(time - 8))))*(((0.25 - 0.25)/(8 - 1))*(time - 1) + 0.25)+((1/pi)*(arctan(1000*(time - 8)) - arctan(1000*(time - 9))))*(((0 - 0.25)/(9 - 8))*(time - 8) + 0.25)+((1/pi)*(arctan(1000*(time - 9)) - arctan(1000*(time - 10))))*(((0 - 0)/(10 - 9))*(time - 9) + 0)+((1/pi)*(arctan(1000*(time - 10)) - arctan(1000*(time - 11))))*(((0.25 - 0)/(11 - 10))*(time - 10) + 0)+((1/pi)*(arctan(1000*(time - 11)) - arctan(1000*(time - 18))))*(((0.25 - 0.25)/(18 - 11))*(time - 11) + 0.25)+((1/pi)*(arctan(1000*(time - 18)) - arctan(1000*(time - 19))))*(((0 - 0.25)/(19 - 18))*(time - 18) + 0.25)+((1/pi)*(arctan(1000*(time - 19)) - arctan(1000*(time - 1000))))*(((0 - 0)/(1000 - 19))*(time - 19) + 0) rIJI2 "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 0))))*(((0 - 0)/(0 - (-1000)))*(time - (-1000)) + 0)+((1/pi)*(arctan(1000*(time - 0)) - arctan(1000*(time - 1))))*((((-0.3) - 0)/(1 - 0))*(time - 0) + 0)+((1/pi)*(arctan(1000*(time - 1)) - arctan(1000*(time - 4))))*((((-0.3) - (-0.3))/(4 - 1))*(time - 1) + (-0.3))+((1/pi)*(arctan(1000*(time - 4)) - arctan(1000*(time - 5))))*(((0.6 - (-0.3))/(5 - 4))*(time - 4) + (-0.3))+((1/pi)*(arctan(1000*(time - 5)) - arctan(1000*(time - 8))))*(((0.6 - 0.6)/(8 - 5))*(time - 5) + 0.6)+((1/pi)*(arctan(1000*(time - 8)) - arctan(1000*(time - 9))))*(((0 - 0.6)/(9 - 8))*(time - 8) + 0.6)+((1/pi)*(arctan(1000*(time - 9)) - arctan(1000*(time - 10))))*(((0 - 0)/(10 - 9))*(time - 9) + 0)+((1/pi)*(arctan(1000*(time - 10)) - arctan(1000*(time - 11))))*(((0.6 - 0)/(11 - 10))*(time - 10) + 0)+((1/pi)*(arctan(1000*(time - 11)) - arctan(1000*(time - 14))))*(((0.6 - 0.6)/(14 - 11))*(time - 11) + 0.6)+((1/pi)*(arctan(1000*(time - 14)) - arctan(1000*(time - 15))))*((((-0.3) - 0.6)/(15 - 14))*(time - 14) + 0.6)+((1/pi)*(arctan(1000*(time - 15)) - arctan(1000*(time - 18))))*((((-0.3) - (-0.3))/(18 - 15))*(time - 15) + (-0.3))+((1/pi)*(arctan(1000*(time - 18)) - arctan(1000*(time - 19))))*(((0 - (-0.3))/(19 - 18))*(time - 18) + (-0.3))+((1/pi)*(arctan(1000*(time - 19)) - arctan(1000*(time - 1000))))*(((0 - 0)/(1000 - 19))*(time - 19) + 0) rIJI3 "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 1))))*(((0 - 0)/(1 - (-1000)))*(time - (-1000)) + 0)+((1/pi)*(arctan(1000*(time - 1)) - arctan(1000*(time - 2))))*((((-0.2) - 0)/(2 - 1))*(time - 1) + 0)+((1/pi)*(arctan(1000*(time - 2)) - arctan(1000*(time - 3))))*((((-0.2) - (-0.2))/(3 - 2))*(time - 2) + (-0.2))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 4))))*(((0 - (-0.2))/(4 - 3))*(time - 3) + (-0.2))+((1/pi)*(arctan(1000*(time - 4)) - arctan(1000*(time - 5))))*(((0 - 0)/(5 - 4))*(time - 4) + 0)+((1/pi)*(arctan(1000*(time - 5)) - arctan(1000*(time - 6))))*((((-0.2) - 0)/(6 - 5))*(time - 5) + 0)+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 7))))*((((-0.2) - (-0.2))/(7 - 6))*(time - 6) + (-0.2))+((1/pi)*(arctan(1000*(time - 7)) - arctan(1000*(time - 8))))*(((0 - (-0.2))/(8 - 7))*(time - 7) + (-0.2))+((1/pi)*(arctan(1000*(time - 8)) - arctan(1000*(time - 11))))*(((0 - 0)/(11 - 8))*(time - 8) + 0)+((1/pi)*(arctan(1000*(time - 11)) - arctan(1000*(time - 12))))*((((-0.2) - 0)/(12 - 11))*(time - 11) + 0)+((1/pi)*(arctan(1000*(time - 12)) - arctan(1000*(time - 13))))*((((-0.2) - (-0.2))/(13 - 12))*(time - 12) + (-0.2))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 14))))*(((0 - (-0.2))/(14 - 13))*(time - 13) + (-0.2))+((1/pi)*(arctan(1000*(time - 14)) - arctan(1000*(time - 15))))*(((0 - 0)/(15 - 14))*(time - 14) + 0)+((1/pi)*(arctan(1000*(time - 15)) - arctan(1000*(time - 16))))*((((-0.2) - 0)/(16 - 15))*(time - 15) + 0)+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 17))))*((((-0.2) - (-0.2))/(17 - 16))*(time - 16) + (-0.2))+((1/pi)*(arctan(1000*(time - 17)) - arctan(1000*(time - 18))))*(((0 - (-0.2))/(18 - 17))*(time - 17) + (-0.2))+((1/pi)*(arctan(1000*(time - 18)) - arctan(1000*(time - 1000))))*(((0 - 0)/(1000 - 18))*(time - 18) + 0) angIJJ1 0 angIJJ2 0 angIJJ3 0 RotationOrder 1 2 3 RotationalMotion Name Motion3 MotionJoint /Peg/Joint8 RotationZ "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 2))))*((((-1) - (-1))/(2 - (-1000)))*(time - (-1000)) + (-1))+((1/pi)*(arctan(1000*(time - 2)) - arctan(1000*(time - 3))))*((((-0.5) - (-1))/(3 - 2))*(time - 2) + (-1))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 6))))*((((-0.5) - (-0.5))/(6 - 3))*(time - 3) + (-0.5))+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 7))))*((((-1) - (-0.5))/(7 - 6))*(time - 6) + (-0.5))+((1/pi)*(arctan(1000*(time - 7)) - arctan(1000*(time - 12))))*((((-1) - (-1))/(12 - 7))*(time - 7) + (-1))+((1/pi)*(arctan(1000*(time - 12)) - arctan(1000*(time - 13))))*((((-0.5) - (-1))/(13 - 12))*(time - 12) + (-1))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 16))))*((((-0.5) - (-0.5))/(16 - 13))*(time - 13) + (-0.5))+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 17))))*((((-1) - (-0.5))/(17 - 16))*(time - 16) + (-0.5))+((1/pi)*(arctan(1000*(time - 17)) - arctan(1000*(time - 1000))))*((((-1) - (-1))/(1000 - 17))*(time - 17) + (-1)) RotationalMotion Name Motion4 MotionJoint /Peg/Joint7 RotationZ "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 2))))*((((-1) - (-1))/(2 - (-1000)))*(time - (-1000)) + (-1))+((1/pi)*(arctan(1000*(time - 2)) - arctan(1000*(time - 3))))*((((-0.5) - (-1))/(3 - 2))*(time - 2) + (-1))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 6))))*((((-0.5) - (-0.5))/(6 - 3))*(time - 3) + (-0.5))+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 7))))*((((-1) - (-0.5))/(7 - 6))*(time - 6) + (-0.5))+((1/pi)*(arctan(1000*(time - 7)) - arctan(1000*(time - 12))))*((((-1) - (-1))/(12 - 7))*(time - 7) + (-1))+((1/pi)*(arctan(1000*(time - 12)) - arctan(1000*(time - 13))))*((((-0.5) - (-1))/(13 - 12))*(time - 12) + (-1))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 16))))*((((-0.5) - (-0.5))/(16 - 13))*(time - 13) + (-0.5))+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 17))))*((((-1) - (-0.5))/(17 - 16))*(time - 16) + (-0.5))+((1/pi)*(arctan(1000*(time - 17)) - arctan(1000*(time - 1000))))*((((-1) - (-1))/(1000 - 17))*(time - 17) + (-1)) RotationalMotion Name Motion5 MotionJoint /Peg/Joint6 RotationZ -1*("((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 2))))*((((-1) - (-1))/(2 - (-1000)))*(time - (-1000)) + (-1))+((1/pi)*(arctan(1000*(time - 2)) - arctan(1000*(time - 3))))*((((-0.5) - (-1))/(3 - 2))*(time - 2) + (-1))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 6))))*((((-0.5) - (-0.5))/(6 - 3))*(time - 3) + (-0.5))+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 7))))*((((-1) - (-0.5))/(7 - 6))*(time - 6) + (-0.5))+((1/pi)*(arctan(1000*(time - 7)) - arctan(1000*(time - 12))))*((((-1) - (-1))/(12 - 7))*(time - 7) + (-1))+((1/pi)*(arctan(1000*(time - 12)) - arctan(1000*(time - 13))))*((((-0.5) - (-1))/(13 - 12))*(time - 12) + (-1))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 16))))*((((-0.5) - (-0.5))/(16 - 13))*(time - 13) + (-0.5))+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 17))))*((((-1) - (-0.5))/(17 - 16))*(time - 16) + (-0.5))+((1/pi)*(arctan(1000*(time - 17)) - arctan(1000*(time - 1000))))*((((-1) - (-1))/(1000 - 17))*(time - 17) + (-1))) GeneralMotion Name Motion6 MarkerI /Peg/Marker3 MarkerJ /Peg/specimen/Marker1 rIJI1 0 rIJI2 "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 4))))*((((-0.3) - (-0.3))/(4 - (-1000)))*(time - (-1000)) + (-0.3))+((1/pi)*(arctan(1000*(time - 4)) - arctan(1000*(time - 5))))*(((0.6 - (-0.3))/(5 - 4))*(time - 4) + (-0.3))+((1/pi)*(arctan(1000*(time - 5)) - arctan(1000*(time - 14))))*(((0.6 - 0.6)/(14 - 5))*(time - 5) + 0.6)+((1/pi)*(arctan(1000*(time - 14)) - arctan(1000*(time - 15))))*((((-0.3) - 0.6)/(15 - 14))*(time - 14) + 0.6)+((1/pi)*(arctan(1000*(time - 15)) - arctan(1000*(time - 1000))))*((((-0.3) - (-0.3))/(1000 - 15))*(time - 15) + (-0.3)) rIJI3 "((1/pi)*(arctan(1000*(time - T1)) - arctan(1000*(time - T2))))*(((H2 - H1)/(T2 - T1))*(time - T1) + H1)"((1/pi)*(arctan(1000*(time - (-1000))) - arctan(1000*(time - 3))))*((((-0.2) - (-0.2))/(3 - (-1000)))*(time - (-1000)) + (-0.2))+((1/pi)*(arctan(1000*(time - 3)) - arctan(1000*(time - 4))))*(((0 - (-0.2))/(4 - 3))*(time - 3) + (-0.2))+((1/pi)*(arctan(1000*(time - 4)) - arctan(1000*(time - 5))))*(((0 - 0)/(5 - 4))*(time - 4) + 0)+((1/pi)*(arctan(1000*(time - 5)) - arctan(1000*(time - 6))))*((((-0.2) - 0)/(6 - 5))*(time - 5) + 0)+((1/pi)*(arctan(1000*(time - 6)) - arctan(1000*(time - 13))))*((((-0.2) - (-0.2))/(13 - 6))*(time - 6) + (-0.2))+((1/pi)*(arctan(1000*(time - 13)) - arctan(1000*(time - 14))))*(((0 - (-0.2))/(14 - 13))*(time - 13) + (-0.2))+((1/pi)*(arctan(1000*(time - 14)) - arctan(1000*(time - 15))))*(((0 - 0)/(15 - 14))*(time - 14) + 0)+((1/pi)*(arctan(1000*(time - 15)) - arctan(1000*(time - 16))))*((((-0.2) - 0)/(16 - 15))*(time - 15) + 0)+((1/pi)*(arctan(1000*(time - 16)) - arctan(1000*(time - 1000))))*((((-0.2) - (-0.2))/(1000 - 16))*(time - 16) + (-0.2)) angIJJ1 0 angIJJ2 0 angIJJ3 0 RotationOrder 1 2 3 GeneralConstraintSets ForceTorques ConstantGravity 0.0 0.0 0.0 SimulationParameters tstart 0.0 tend 20.0 hmin 1.0e-9 hmax 1.0 hout 0.1 errorTol 1.0e-6 AnimationParameters nframe 201 icurrent 1 istart 1 iend 201 isForward true framesPerSecond 30 TimeSeries Number Input 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 Time Input 0.0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 2.0 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 3.0 3.1 3.2 3.3 3.4 3.5 3.6 3.7 3.8 3.9 4.0 4.1 4.2 4.3 4.4 4.5 4.6 4.7 4.8 4.9 5.0 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 6.0 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 7.0 7.1 7.2 7.3 7.4 7.5 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