#FIG 3.1
Portrait
Center
Metric
1200 2
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 1125 485 485 8550 1125 8730 1575
1 3 0 2 1 7 1 0 -1 0.000 1 0.0000 8550 5625 485 485 8550 5625 9035 6110
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3468 1128 3738 1128
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5720 1130 5990 1130
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4593 2703 4863 2703
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4728 1128 4728 2703 4953 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4502 5492 4502 5762
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 2927 5627 4502 5627 4277 5852
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 5851 4726 7426 4951 7201
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 3472 8647 3742 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 4597 8647 4867 8647
2 1 0 1 25 7 0 0 -1 0.000 0 0 -1 0 0 2
	 5724 8649 5994 8649
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4730 8645 4730 10220 4955 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5855 8645 5855 10220 6080 9995
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3601 3826 3601 7426 3826 7201
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5851 3826 5851 7426 6076 7201
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 8775 6525 7200 2925 7200 2925 8775 6525 8775
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 2025 6525 450 2925 450 2925 2025 6525 2025
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 6435 6525 4860 2925 4860 2925 6435 6525 6435
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 11250 6525 9675 2925 9675 2925 11250 6525 11250
2 4 0 1 31 7 1 0 -1 0.000 0 0 7 0 0 5
	 9450 11475 9450 225 180 225 180 11475 9450 11475
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3603 1128 3603 2703 3828 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 5853 1128 5853 2703 6078 2478
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 4726 3826 4726 5401 4951 5176
2 4 0 1 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 6525 4050 2925 4050 2925 2475 6525 2475 6525 4050
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3600 8622 3600 10197 3825 9972
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 5175 8775 1575 8325 1575 8325 5175 8775 5175
2 4 0 2 1 7 1 0 -1 0.000 0 0 7 0 0 5
	 8775 9675 8775 6075 8325 6075 8325 9675 8775 9675
2 2 0 2 1 7 1 0 -1 0.000 0 0 0 0 0 5
	 7650 450 9405 450 9405 675 7650 675 7650 450
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3150 3285 1575 3285 1800 3510
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 3195 8055 1620 8055 1845 8280
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 3150 1350 2025 1575 2250
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 8325 1350 9450 1575 9225
2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 3
	 1350 7875 1350 3600 1575 3825
4 1 -1 0 0 0 20 0.0000 4 255 810 3603 948 SS:v_x\001
4 0 -1 0 0 0 20 0.0000 4 195 135 4683 5718 0\001
4 1 -1 0 0 0 20 0.0000 4 255 840 3608 10673 SS:F_x\001
4 1 -1 0 0 0 20 0.0000 4 255 840 4733 10673 SS:F_a\001
4 1 -1 0 0 0 20 0.0000 4 255 840 5903 10673 SS:F_y\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4729 3379 RODa:rod1\001
4 1 -1 0 0 0 20 0.0000 4 195 1335 4731 8196 RODa:rod2\001
4 1 4 0 0 0 20 0.0000 4 255 1410 4771 946 SS:[Joint_1]\001
4 0 1 1 0 3 20 0.0000 4 210 720 6795 3375 Link 1\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 5760 Joint 2\001
4 0 1 1 0 3 20 0.0000 4 210 720 6750 8190 Link 2\001
4 0 1 1 0 3 20 0.0000 4 270 375 6750 10485 Tip\001
4 0 1 1 0 3 20 0.0000 4 225 795 6750 1260 Joint 1\001
4 1 4 0 0 0 16 0.0000 4 225 900 4725 2970 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3600 3780 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4725 3780 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5850 3780 [y_b]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5850 2970 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3605 7835 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 900 4730 7835 [alpha_a]\001
4 1 4 0 0 0 16 0.0000 4 225 495 5855 7835 [y_a]\001
4 1 4 0 0 0 16 0.0000 4 210 510 3607 8512 [x_b]\001
4 1 4 0 0 0 16 0.0000 4 225 915 4733 8513 [alpha_b]\001
4 1 4 0 0 0 16 0.0000 4 225 510 5859 8514 [y_b]\001
4 1 -1 0 0 0 20 0.0000 4 255 810 5850 945 SS:v_y\001
4 2 4 0 0 0 20 0.0000 4 255 1410 2882 5717 SS:[Joint_2]\001
4 1 4 0 0 0 16 0.0000 4 210 495 3600 2970 [x_a]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3510 3375 [alpha]\001
4 1 4 0 0 0 16 0.0000 4 225 675 3555 8145 [alpha]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1308 8193 1\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1397 1892 SS:[Theta_1]\001
4 1 4 0 0 0 20 0.0000 4 255 1530 1352 9767 SS:[Theta_2]\001
4 0 -1 0 0 0 20 0.0000 4 195 135 1263 3468 0\001
