MECH 343 Lab 1

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Dec 6, 2023

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1 Lab 1: Analysis of a Four-Bar Linkage Mechanism Using Solidworks Motion Lab Section – EI – X Fall 2023 Dr. Dargahi Javad Concordia University Montreal, QC, Canada Sunday September 24 th , 2023
2 Table of Contents Nomenclature pg 3 List of Tables pg 3 List of Figures pg 4 Objective pg 5 Introduction pg 5 Procedure pg 6-7 Results pg 8-12 Discussion and Conclusion pg 13 References pg 13 Appendix pg 14-34 Nomenclature s = length of shortest bar [1] l = length of longest bar [1] p, q = length of intermediate bars [1] List of Tables
3 Table 1: Classification of a four-bar mechanism p.5 Table 2: Assembly 1 Joint 2 Linear Acceleration in the y Direction Data p.14-17 Table 3: Assembly 1 Joint 2 Linear Displacement in the y Direction Data p.17-20 Table 4: Assembly 1 Joint 2 Linear Velocity in the y Direction Data p.20-23 Table 5: Assembly 1 Joint 3 Angular Displacement Data p.23-26 Table 6: Assembly 1 Joint 3 Angular Velocity in the z Direction Data p.26-30 Table 7: Assembly 1 Joint 3 Linear Displacement in the y Direction Data p.31-33 Table 8: Assembly 2 Joint 2 Linear Acceleration in the y Direction Data p.33 Table 9: Assembly 2 Joint 2 Linear displacement in the y Direction Data p.33 Table 10: Assembly 2 Joint 2 Linear Velocity in the y Direction Data p.33-34 Table 11: Assembly 2 Joint 3 Angular Displacement Data p.34 Table 12: Assembly 2 Joint 3 Angular Velocity in the z Direction Data p.34 Table 13: Assembly 2 Joint 3 Linear Displacement in the y Direction Data p.34 List of Figures Figure 1: Final Assembly 1 p.6 Figure 2: Final Assembly 2 p.7 Figure 3: Assembly 1 Joint 2 Linear Acceleration in the y Direction p.8 Figure 4: Assembly 1 Joint 2 Linear Displacement in the y Direction p.8
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4 Figure 5: Assembly 1 Joint 2 Linear Velocity in the y Direction p.9 Figure 6: Assembly 1 Joint 3 Angular Displacement p.9 Figure 7: Assembly 1 Joint 3 Angular Velocity in the z Direction p.9 Figure 8: Assembly 1 Joint 3 Linear Displacement in the y Direction p.10 Figure 9: Assembly 2 Joint 2 Linear Acceleration in the y Direction p.10 Figure 10: Assembly 2 Joint 2 Linear Displacement in the y Direction p.10 Figure 11: Assembly 2 Joint 2 Linear Velocity in the y Direction p.11 Figure 12: Assembly 2 Joint 3 Angular Displacement p.11 Figure 13: Assembly 2 Joint 3 Angular Velocity in the z Direction p.11 Figure 14: Assembly 2 Joint 3 Linear Displacement in the y Direction p.12 Figure 15: Assembly 1 Joint 3 Trace Path p.12 Figure 16: Assembly 2 Joint 3 Trace Path p.12 Objective: The objective of this lab is to learn how to use Solidworks Motion, a Solidworks add-in, to analyse the motion of a mechanism [1]. A specific 4 bar mechanism will have its motion analyzed and then have one of its bar’s lengths modified. Subsequently, the motion will then be analyzed again and compared with the previous mechanism. Introduction: Solidworks is a designing software which allows its users to create, visualize and simulate motion in mechanisms and parts. By simulating various forces, such as springs or motors, one can measure the kinematic and dynamic behaviours of a mechanism [1]. This proves to be a practical tool as one can measure things such as, displacements, velocities,
5 accelerations, motion paths, and more without having to spend on, or damage real materials [1]. This lab will use Solidworks to build a four-bar linkage and apply a 60 RPM ccw motor to one of the bars. As implied in the name, a four-bar linkage requires four bar shaped links along with four hinge joints, although one bar may be replaced by the ground if there are two fixed points. This lab uses three bars and the ground as its four-bar mechanism where the bar with the motor attached is referred to as the driver bar; the bar connecting the driver bar to the 3 rd bar is referred to as the coupler; and the connected bar is referred to as the driven bar. A four-bar mechanism is constrained to sliding and rotating [1] and the type of motion it exhibits can be predicted using Grashof’s theorem. Grashof’s theorem takes the lengths of the bars and relates them to their positions/roles within the mechanism (i.e saying the driver bar is the shortest bar). Grashof’s theorem contains an inequality criterion which helps determine what type of mechanism is being analysed. The criterion can be summarized as the following: “a four-bar mechanism will have at least one revolving link if s + l <= p + q ” [1] and “all three mobile links will rock if s + l > p + q ” [1]. The theorem gives rise to 4 different types of four-bar mechanisms: double-crank, rocker- crank, double-rocker, and change point. A double-crank mechanism requires that the ground link be the shortest and means that both ground adjacent links can fully rotate [2]. A rocker-crank mechanism requires on of the ground adjacent links to be the shortest and means that the shortest link will fully rotate while the longer link rocks in a less than 180-degree arc [2]. A double- rocker mechanism requires the coupler to be the shortest link meaning the two ground adjacent links will rock while the coupler is free to fully rotate [2]. A change point mechanism means the Grashof inequality criterion is not satisfied ( s + l = p + q ) and therefore the mechanism behaviour cannot be determined without more information [2]. The following table summarizes Grashof’s theorem: Procedure: Begin by opening the Solidworks software and create a new Part file. Ensure that units are set to MKS (meters, kilograms, seconds) for all parts. In the window on the left, right click on “Front Plane” and select the first icon that comes up, which is referred to as sketch, to start building your part within the plane. Now on top of the window that was just used, ensure that the sketch toolbar is selected and select the option above the tab to make a centerpoint straight slot. Use this feature to build a slot with a length of 0.2m and width of 0.2m. In the same section where the slot option is found, select the circle feature, and add a 0.05m radius circle at the center of the top arc of your slot. Separate the slot in half by using the horizontal line feature, found in the same section as the slot feature, and erase the bottom half of the slot opening the “Trim Entities” tab and selecting “Power Trim”. Press the “Exit Sketch” button and return to the features toolbar where you will select “Extruded Boss/Base” and give your sketch a thickness of 0.05m. Save the part, name it “Base”, and create a new part. The same steps must be repeated for 3 new slots with a slight change where instead of Figure 1: Final Assembly 1
6 erasing half the slot, add another circle with a 0.05m radius at the center of the other arc as well as making their lengths 3m, 3.32m and 4m respectively. Name the 3m slot, 3.32m slot, and 4m slot “Driver”, “Coupler”, and “Driven” respectively. Create a new assembly file, change the units to MKS, and add all the parts that were just made. Begin by duplicating the base by holding the CTRL button on the keyboard, clicking the base, and dragging it. Next, select one of the bases, right click it and select fix on the drop-down menu. Ensure that all other parts are not fixed by right clicking them, and if they say float instead of fix in the drop-down menu, then click float. Make sure that the assembly toolbar is open and select the “Mate” option. Select the front face of both bases and select the “coincident” option on the left side window. Repeat the same mate steps for the bottom faces of the bases. Mate the left sides of the bases, make them coincident, and add a 4m distance between them. Next, mate the surface of the left base pin’s hole to the surface of the driver slots hole and choose a concentric mating. Follow up by mating the back face of the left base to the front face of the driver slot. Now mate the free hole in the driver slot to a hole on the coupler and make it concentric once more. Mate the front face of the driver slot with the back face of the coupler. Take the free hole on the coupler and mate it concentrically with a hole on the driven slot. Next, mate the back face of the coupler slot with the front face of the driven slot. Finally, mate the free hole of the driven slot to the right-side base hole in a concentric manner and ensure that the front face of the driven slot is mated with the back face of the right base. The final product should look like the figure 1 to the right. To begin the motion analysis, ensure that “Solidworks Motion” is on by opening the options, clicking on add-ins and making sure the “Solidworks Motion” box is checked. Now select the “Motion Study” tab at the bottom of the page and add a motor to the driver bar by using the new menu that came up in the motion study tab. Modify the motor, using the left-side window, so that it turns counterclockwise at a rate of 60 rpm. Adjust the length of the motion study to be 5 seconds by using the slider in the motion study menu and run the animation to see how the mechanism moves. Now in the top left of the motion study menu, use the drop-down menu and select “Motion Analysis” to open the “Results and Plots” option in the same section as the motor option in the motion study menu. Click the “Results and Plots” icon and select the surface of the hole on the coupler slot attached to the driver slot. In the menu to the left, use the drop-down menus to select “Displacement/Velocity/Acceleration”, “Linear Displacement”, and “Y Component” respectively. Click the checkmark icon and repeat these steps two more times while replacing “Linear Displacement” with “Linear Velocity” and “Linear Acceleration” respectively. For the other hole on the coupler, repeat the same steps for “Linear Displacement”, “Angular Displacement”, “Trace Path” and “Angular Velocity”. Be sure to use the “Z Component” for the “Angular Velocity” portion. Click the “Calculate” icon next to the motion analysis drop-down menu to view the data. Scroll down in the menu beneath the drop-down menu, find the results icon and open it. Right click on the items on the menu and click the “Export to spreadsheet” option to save the data to an Excel file. Now modify the driver bar to be 4m in length and repeat all the steps regarding the plots and graphs. The new assembly should look as follows:
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7 Figure 2: Final Assembly 2 Compare the data of each assembly and discuss the differences in the report. Results: Sample Calculations Formula used: s + l <= p + q and s + l > p + q Assembly 1: 3m + 4m <= 4m + 3.32m This is true so at least 1 rotating link. Assembly 2: 3.32m + 4m > 4m + 4m This is not true so at least one link will rotate. Table 1 indicates that the coupler will be the rotating link.
8 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -1.0000E+03 -8.0000E+02 -6.0000E+02 -4.0000E+02 -2.0000E+02 0.0000E+00 2.0000E+02 4.0000E+02 6.0000E+02 8.0000E+02 Assembly 1 Joint 2 Linear Acceleration in y Direction Sec m/s2 Figure 3: Assembly 1 Joint 2 Linear Acceleration in the y Direction 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -2.0000E+00 -1.0000E+00 0.0000E+00 1.0000E+00 2.0000E+00 3.0000E+00 4.0000E+00 Assembly 1 Joint 2 Linear Displacement in y Direction Sec m Figure 4: Assembly 1 Joint 2 Linear Displacement in the y Direction
9 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -4.0000E+01 -3.0000E+01 -2.0000E+01 -1.0000E+01 0.0000E+00 1.0000E+01 2.0000E+01 Assembly 1 Joint 2 Linear Velocity in y Direction sec m/s Figure 5: Assembly 1 Joint 2 Linear Velocity in the y Direction 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -2.0000E+02 -1.5000E+02 -1.0000E+02 -5.0000E+01 0.0000E+00 5.0000E+01 1.0000E+02 1.5000E+02 2.0000E+02 Assembly 1 Joint 3 Angular Displacement sec deg Figure 6: Assembly 1 Joint 3 Angular Displacement 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -5.0000E+02 0.0000E+00 5.0000E+02 1.0000E+03 1.5000E+03 Assembly 1 Joint 3 Angular Velocity in z Direction sec deg/s Figure 7: Assembly 1 Joint 3 Angular Velocity in the z Direction
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10 0.000 1.000 2.000 3.000 4.000 5.000 6.000 -2.0000E+00 -1.0000E+00 0.0000E+00 1.0000E+00 2.0000E+00 3.0000E+00 4.0000E+00 Assembly 1 Joint 3 Linear Displacement in y Direction sec m Figure 8: Assembly 1 Joint 3 Linear Displacement in the y Direction 0.000 0.050 0.100 0.150 0.200 0.250 -4.0000E+02 -2.0000E+02 0.0000E+00 2.0000E+02 4.0000E+02 6.0000E+02 8.0000E+02 Assembly 2 Joint 2 Linear Acceleration in y Direction sec m/s2 Figure 9: Assembly 2 Joint 2 Linear Acceleration in the y Direction 0.000 0.050 0.100 0.150 0.200 0.250 0.0000E+00 5.0000E-01 1.0000E+00 1.5000E+00 2.0000E+00 2.5000E+00 Assembly 2 Joint 2 Linear Displacement in y Direction sec m Figure 10: Assembly 2 Joint 2 Linear Displacement in the y Direction
11 0.000 0.050 0.100 0.150 0.200 0.250 -1.6000E+01 -1.4000E+01 -1.2000E+01 -1.0000E+01 -8.0000E+00 -6.0000E+00 -4.0000E+00 -2.0000E+00 0.0000E+00 2.0000E+00 4.0000E+00 Assembly 2 Joint 2 Linear Velocity in y Direction sec m/s Figure 11: Assembly 2 Joint 2 Linear Velocity in the y Direction 0.000 0.050 0.100 0.150 0.200 0.250 0.0000E+00 2.0000E+01 4.0000E+01 6.0000E+01 8.0000E+01 1.0000E+02 1.2000E+02 1.4000E+02 Assembly 2 Joint 3 Angular Displacement sec deg Figure 12: Assembly 2 Joint 3 Angular Displacement 0.000 0.050 0.100 0.150 0.200 0.250 0.0000E+00 1.0000E+02 2.0000E+02 3.0000E+02 4.0000E+02 5.0000E+02 6.0000E+02 7.0000E+02 8.0000E+02 9.0000E+02 Assembly 2 Joint 3 Angular Velocity in z Direction sec deg/s Figure 13: Assembly 2 Joint 3 Angular Velocity in the z Direction
12 0.000 0.050 0.100 0.150 0.200 0.250 0.0000E+00 5.0000E-01 1.0000E+00 1.5000E+00 2.0000E+00 2.5000E+00 Assembly 2 Joint 3 Linear Diplacement in y Direction sec m Figure 14: Assembly 2 Joint 3 Linear Displacement in the y Direction Figure 15: Assembly 1 Joint 3 Trace Path Figure 16: Assembly 2 Joint 3 Trace Path
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13 Discussion and conclusion: Using Grashof’s theorem, it was determined that assembly 1 would have at least one rotating slot. Furthermore, Table 1 shows that it will be a rocker-crank mechanism where the driver bar will fully rotate [2]. The above plots confirm this behaviour as they have repeating patterns throughout the duration of the motion, as well as joint three having two separate trace paths, meaning the driver is not simply rocking. Although we can make a proper analysis of the mechanism using the graphs, Solidworks does produce some errors on the data due to faulty calculations. This can be seen in the graph for the linear displacement of assembly 1, joint 2, where the maximum and minimum values should have a difference of 6, but Solidworks calculates a difference of 5. Other small errors like this can be seen in the other graphs although the trends are as expected for a rocker-crank mechanism. Using Grashof’s theorem and table 1 for the second assembly, we can conclude that it will be a rocker-rocker mechanism with a rotating coupler link, however, this is not what is shown in the data. A clear issue arose where the driver bar was unable to continue its path using the given motor. The graphs show that the link was able to rotate for 0.2 seconds before reaching the limits of its motion due to the shorter coupler link. The solution to this issue would be to attach a motor that rocks the driver link to its respective limits, thus allowing for the coupler to fully rotate as the driven link follows. Had this adjustment been made, it would be expected for the graphs to repeat in a similar fashion, but the patterns would vary as the amplitudes of the graphs would greatly diminish due to the smaller range of motion. It can be assumed that joints 2 and 3 would mirror each others’ properties in a staggered manner, as the driver and driven are the same length, but further testing would be required to confirm that and to see how changing the motors placement may change it. In conclusion, a functional rocker-crank mechanism was able to be built with the expected behaviours manifesting. Due to the lack of knowledge about Solidworks, a rocker- rocker mechanism was built without proper functionality although it behaved as expected with the current limits in place. Solidworks was able to give accurate data for some cases but was unable to properly calculate data in other cases and thus all data should be verified with the theoretical data (i.e: verify v = r*ω vs linear velocity graph values). The results are not perfect given the conditions of the gauges and the machinery, but they are consistent and follow the models we predicted. The results are not perfect given the software calculations, but they are consistent and follow the behaviours we expected. Bibliography [1] Gina Cody School of Engineering and Computer Science. (2023). MECH 343 LABORATORY MANUAL (FALL 2023) THEORY OF MACHINES 1. Montreal: Concordia University. [2] Wen-Tung Chang, C.-C. L.-I. (2005). A Note On Grashof's Theorem. Journal of Marine Science and Technology, 13 (4), 2-3.
14 Appendix Appendix A: Table 2: Assembly 1 Joint 2 Linear Acceleration in the y Direction Data 332Bar-1 Acceleration1 (meter/sec**2) Fram e Time Ref. Coordinate System: 1 0.00 0 -9.4669E+01 2 0.04 0 -7.2605E+01 3 0.08 0 -3.3092E+01 4 0.12 0 1.9212E+01 5 0.16 0 -1.0522E+02 6 0.20 0 -8.9309E+02 7 0.24 0 5.5484E+02 8 0.28 0 1.5533E+02 9 0.32 0 7.5877E+01 10 0.36 0 6.3344E+01 11 0.40 0 6.3322E+01 12 0.44 0 6.4762E+01 13 0.48 0 6.4696E+01 14 0.52 0 6.2471E+01 15 0.56 0 5.8660E+01 16 0.60 0 5.5107E+01 17 0.64 0 5.5008E+01 18 0.68 0 5.8673E+01
15 19 0.72 0 4.9130E+01 20 0.76 0 1.1090E+01 21 0.80 0 -3.2686E+01 22 0.84 0 -6.6181E+01 23 0.88 0 -8.8624E+01 24 0.92 0 -1.0103E+02 25 0.96 0 -1.0338E+02 26 1.00 0 -9.4669E+01 27 1.04 0 -7.2605E+01 28 1.08 0 -3.3092E+01 29 1.12 0 1.9212E+01 30 1.16 0 -1.0522E+02 31 1.20 0 -8.9309E+02 32 1.24 0 5.5484E+02 33 1.28 0 1.5533E+02 34 1.32 0 7.5877E+01 35 1.36 0 6.3344E+01 36 1.40 0 6.3322E+01 37 1.44 0 6.4762E+01 38 1.48 0 6.4696E+01 39 1.52 0 6.2471E+01 40 1.56 0 5.8660E+01 41 1.60 0 5.5107E+01 42 1.64 5.5008E+01
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16 0 43 1.68 0 5.8673E+01 44 1.72 0 4.9130E+01 45 1.76 0 1.1090E+01 46 1.80 0 -3.2686E+01 47 1.84 0 -6.6181E+01 48 1.88 0 -8.8624E+01 49 1.92 0 -1.0103E+02 50 1.96 0 -1.0338E+02 51 2.00 0 -9.4669E+01 52 2.04 0 -7.2605E+01 53 2.08 0 -3.3092E+01 54 2.12 0 1.9212E+01 55 2.16 0 -1.0522E+02 56 2.20 0 -8.9309E+02 57 2.24 0 5.5484E+02 58 2.28 0 1.5533E+02 59 2.32 0 7.5877E+01 60 2.36 0 6.3344E+01 61 2.40 0 6.3322E+01 62 2.44 0 6.4762E+01 63 2.48 0 6.4696E+01 64 2.52 0 6.2471E+01 65 2.56 0 5.8660E+01
17 66 2.60 0 5.5107E+01 67 2.64 0 5.5008E+01 68 2.68 0 5.8673E+01 69 2.72 0 4.9130E+01 70 2.76 0 1.1090E+01 71 2.80 0 -3.2686E+01 72 2.84 0 -6.6181E+01 73 2.88 0 -8.8624E+01 74 2.92 0 -1.0103E+02 75 2.96 0 -1.0338E+02 76 3.00 0 -9.4669E+01 77 3.04 0 -7.2605E+01 78 3.08 0 -3.3092E+01 79 3.12 0 1.9212E+01 80 3.16 0 -1.0522E+02 81 3.20 0 -8.9309E+02 82 3.24 0 5.5484E+02 83 3.28 0 1.5533E+02 84 3.32 0 7.5877E+01 85 3.36 0 6.3344E+01 86 3.40 0 6.3322E+01 87 3.44 0 6.4762E+01 88 3.48 0 6.4696E+01 89 3.52 6.2471E+01
18 0 90 3.56 0 5.8660E+01 91 3.60 0 5.5107E+01 92 3.64 0 5.5008E+01 93 3.68 0 5.8673E+01 94 3.72 0 4.9130E+01 95 3.76 0 1.1090E+01 96 3.80 0 -3.2686E+01 97 3.84 0 -6.6181E+01 98 3.88 0 -8.8624E+01 99 3.92 0 -1.0103E+02 100 3.96 0 -1.0338E+02 101 4.00 0 -9.4669E+01 102 4.04 0 -7.2605E+01 103 4.08 0 -3.3092E+01 104 4.12 0 1.9212E+01 105 4.16 0 -1.0522E+02 106 4.20 0 -8.9309E+02 107 4.24 0 5.5484E+02 108 4.28 0 1.5533E+02 109 4.32 0 7.5877E+01 110 4.36 0 6.3344E+01 111 4.40 0 6.3322E+01 112 4.44 0 6.4762E+01
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19 113 4.48 0 6.4696E+01 114 4.52 0 6.2471E+01 115 4.56 0 5.8660E+01 116 4.60 0 5.5107E+01 117 4.64 0 5.5008E+01 118 4.68 0 5.8673E+01 119 4.72 0 4.9130E+01 120 4.76 0 1.1090E+01 121 4.80 0 -3.2686E+01 122 4.84 0 -6.6181E+01 123 4.88 0 -8.8624E+01 124 4.92 0 -1.0103E+02 125 4.96 0 -1.0338E+02 126 5.00 0 -9.4669E+01 Appendix B: Table 3: Assembly 1 Joint 2 Linear Displacement in the y Direction Data 332Bar-1 Linear Displacement1 (meter) Fram e Time Ref. Coordinate System: 1 0.00 0 3.1319E+00 2 0.04 0 3.0016E+00 3 0.08 0 2.7574E+00 4 0.12 0 2.4625E+00 5 0.16 0 2.1822E+00 6 0.20 1.5752E+00
20 0 7 0.24 0 2.2630E-01 8 0.28 0 -5.2129E-01 9 0.32 0 -9.7654E-01 10 0.36 0 -1.3027E+00 11 0.40 0 -1.5261E+00 12 0.44 0 -1.6480E+00 13 0.48 0 -1.6665E+00 14 0.52 0 -1.5817E+00 15 0.56 0 -1.3972E+00 16 0.60 0 -1.1189E+00 17 0.64 0 -7.5191E-01 18 0.68 0 -2.9628E-01 19 0.72 0 2.5154E-01 20 0.76 0 8.7374E-01 21 0.80 0 1.5131E+00 22 0.84 0 2.1016E+00 23 0.88 0 2.5857E+00 24 0.92 0 2.9293E+00 25 0.96 0 3.1126E+00 26 1.00 0 3.1319E+00 27 1.04 0 3.0016E+00 28 1.08 0 2.7574E+00 29 1.12 0 2.4625E+00
21 30 1.16 0 2.1822E+00 31 1.20 0 1.5752E+00 32 1.24 0 2.2630E-01 33 1.28 0 -5.2129E-01 34 1.32 0 -9.7654E-01 35 1.36 0 -1.3027E+00 36 1.40 0 -1.5261E+00 37 1.44 0 -1.6480E+00 38 1.48 0 -1.6665E+00 39 1.52 0 -1.5817E+00 40 1.56 0 -1.3972E+00 41 1.60 0 -1.1189E+00 42 1.64 0 -7.5191E-01 43 1.68 0 -2.9628E-01 44 1.72 0 2.5154E-01 45 1.76 0 8.7374E-01 46 1.80 0 1.5131E+00 47 1.84 0 2.1016E+00 48 1.88 0 2.5857E+00 49 1.92 0 2.9293E+00 50 1.96 0 3.1126E+00 51 2.00 0 3.1319E+00 52 2.04 0 3.0016E+00 53 2.08 2.7574E+00
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22 0 54 2.12 0 2.4625E+00 55 2.16 0 2.1822E+00 56 2.20 0 1.5752E+00 57 2.24 0 2.2630E-01 58 2.28 0 -5.2129E-01 59 2.32 0 -9.7654E-01 60 2.36 0 -1.3027E+00 61 2.40 0 -1.5261E+00 62 2.44 0 -1.6480E+00 63 2.48 0 -1.6665E+00 64 2.52 0 -1.5817E+00 65 2.56 0 -1.3972E+00 66 2.60 0 -1.1189E+00 67 2.64 0 -7.5191E-01 68 2.68 0 -2.9628E-01 69 2.72 0 2.5154E-01 70 2.76 0 8.7374E-01 71 2.80 0 1.5131E+00 72 2.84 0 2.1016E+00 73 2.88 0 2.5857E+00 74 2.92 0 2.9293E+00 75 2.96 0 3.1126E+00 76 3.00 0 3.1319E+00
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23 77 3.04 0 3.0016E+00 78 3.08 0 2.7574E+00 79 3.12 0 2.4625E+00 80 3.16 0 2.1822E+00 81 3.20 0 1.5752E+00 82 3.24 0 2.2630E-01 83 3.28 0 -5.2129E-01 84 3.32 0 -9.7654E-01 85 3.36 0 -1.3027E+00 86 3.40 0 -1.5261E+00 87 3.44 0 -1.6480E+00 88 3.48 0 -1.6665E+00 89 3.52 0 -1.5817E+00 90 3.56 0 -1.3972E+00 91 3.60 0 -1.1189E+00 92 3.64 0 -7.5191E-01 93 3.68 0 -2.9628E-01 94 3.72 0 2.5154E-01 95 3.76 0 8.7374E-01 96 3.80 0 1.5131E+00 97 3.84 0 2.1016E+00 98 3.88 0 2.5857E+00 99 3.92 0 2.9293E+00 100 3.96 3.1126E+00
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24 0 101 4.00 0 3.1319E+00 102 4.04 0 3.0016E+00 103 4.08 0 2.7574E+00 104 4.12 0 2.4625E+00 105 4.16 0 2.1822E+00 106 4.20 0 1.5752E+00 107 4.24 0 2.2630E-01 108 4.28 0 -5.2129E-01 109 4.32 0 -9.7654E-01 110 4.36 0 -1.3027E+00 111 4.40 0 -1.5261E+00 112 4.44 0 -1.6480E+00 113 4.48 0 -1.6665E+00 114 4.52 0 -1.5817E+00 115 4.56 0 -1.3972E+00 116 4.60 0 -1.1189E+00 117 4.64 0 -7.5191E-01 118 4.68 0 -2.9628E-01 119 4.72 0 2.5154E-01 120 4.76 0 8.7374E-01 121 4.80 0 1.5131E+00 122 4.84 0 2.1016E+00 123 4.88 0 2.5857E+00
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25 124 4.92 0 2.9293E+00 125 4.96 0 3.1126E+00 126 5.00 0 3.1319E+00 Appendix C: Table 4: Assembly 1 Joint 2 Linear Velocity in the y Direction Data 332Bar-1 Velocity1 (meter/sec) Fram e Time Ref. Coordinate System: 1 0.00 0 -1.4877E+00 2 0.04 0 -4.8834E+00 3 0.08 0 -7.0629E+00 4 0.12 0 -7.3226E+00 5 0.16 0 -7.3847E+00 6 0.20 0 -2.9494E+01 7 0.24 0 -2.6375E+01 8 0.28 0 -1.3720E+01 9 0.32 0 -9.5457E+00 10 0.36 0 -6.8428E+00 11 0.40 0 -4.3242E+00 12 0.44 0 -1.7603E+00 13 0.48 0 8.3584E-01 14 0.52 0 3.3861E+00 15 0.56 0 5.8118E+00 16 0.60 0 8.0816E+00 17 0.64 0 1.0267E+01
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26 18 0.68 0 1.2541E+01 19 0.72 0 1.4789E+01 20 0.76 0 1.6064E+01 21 0.80 0 1.5609E+01 22 0.84 0 1.3593E+01 23 0.88 0 1.0462E+01 24 0.92 0 6.6361E+00 25 0.96 0 2.5131E+00 26 1.00 0 -1.4877E+00 27 1.04 0 -4.8834E+00 28 1.08 0 -7.0629E+00 29 1.12 0 -7.3226E+00 30 1.16 0 -7.3847E+00 31 1.20 0 -2.9494E+01 32 1.24 0 -2.6375E+01 33 1.28 0 -1.3720E+01 34 1.32 0 -9.5457E+00 35 1.36 0 -6.8428E+00 36 1.40 0 -4.3242E+00 37 1.44 0 -1.7603E+00 38 1.48 0 8.3584E-01 39 1.52 0 3.3861E+00 40 1.56 0 5.8118E+00 41 1.60 8.0816E+00
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27 0 42 1.64 0 1.0267E+01 43 1.68 0 1.2541E+01 44 1.72 0 1.4789E+01 45 1.76 0 1.6064E+01 46 1.80 0 1.5609E+01 47 1.84 0 1.3593E+01 48 1.88 0 1.0462E+01 49 1.92 0 6.6361E+00 50 1.96 0 2.5131E+00 51 2.00 0 -1.4877E+00 52 2.04 0 -4.8834E+00 53 2.08 0 -7.0629E+00 54 2.12 0 -7.3226E+00 55 2.16 0 -7.3847E+00 56 2.20 0 -2.9494E+01 57 2.24 0 -2.6375E+01 58 2.28 0 -1.3720E+01 59 2.32 0 -9.5457E+00 60 2.36 0 -6.8428E+00 61 2.40 0 -4.3242E+00 62 2.44 0 -1.7603E+00 63 2.48 0 8.3584E-01 64 2.52 0 3.3861E+00
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28 65 2.56 0 5.8118E+00 66 2.60 0 8.0816E+00 67 2.64 0 1.0267E+01 68 2.68 0 1.2541E+01 69 2.72 0 1.4789E+01 70 2.76 0 1.6064E+01 71 2.80 0 1.5609E+01 72 2.84 0 1.3593E+01 73 2.88 0 1.0462E+01 74 2.92 0 6.6361E+00 75 2.96 0 2.5131E+00 76 3.00 0 -1.4877E+00 77 3.04 0 -4.8834E+00 78 3.08 0 -7.0629E+00 79 3.12 0 -7.3226E+00 80 3.16 0 -7.3847E+00 81 3.20 0 -2.9494E+01 82 3.24 0 -2.6375E+01 83 3.28 0 -1.3720E+01 84 3.32 0 -9.5457E+00 85 3.36 0 -6.8428E+00 86 3.40 0 -4.3242E+00 87 3.44 0 -1.7603E+00 88 3.48 8.3584E-01
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29 0 89 3.52 0 3.3861E+00 90 3.56 0 5.8118E+00 91 3.60 0 8.0816E+00 92 3.64 0 1.0267E+01 93 3.68 0 1.2541E+01 94 3.72 0 1.4789E+01 95 3.76 0 1.6064E+01 96 3.80 0 1.5609E+01 97 3.84 0 1.3593E+01 98 3.88 0 1.0462E+01 99 3.92 0 6.6361E+00 100 3.96 0 2.5131E+00 101 4.00 0 -1.4877E+00 102 4.04 0 -4.8834E+00 103 4.08 0 -7.0629E+00 104 4.12 0 -7.3226E+00 105 4.16 0 -7.3847E+00 106 4.20 0 -2.9494E+01 107 4.24 0 -2.6375E+01 108 4.28 0 -1.3720E+01 109 4.32 0 -9.5457E+00 110 4.36 0 -6.8428E+00 111 4.40 0 -4.3242E+00
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30 112 4.44 0 -1.7603E+00 113 4.48 0 8.3584E-01 114 4.52 0 3.3861E+00 115 4.56 0 5.8118E+00 116 4.60 0 8.0816E+00 117 4.64 0 1.0267E+01 118 4.68 0 1.2541E+01 119 4.72 0 1.4789E+01 120 4.76 0 1.6064E+01 121 4.80 0 1.5609E+01 122 4.84 0 1.3593E+01 123 4.88 0 1.0462E+01 124 4.92 0 6.6361E+00 125 4.96 0 2.5131E+00 126 5.00 0 -1.4877E+00 Appendix D: Table 5: Assembly 1 Joint 3 Angular Displacement Data 332Bar-1 Angular Displacement1 (deg) Fram e Time Ref. Coordinate System: 1 0.00 0 1.0861E+02 2 0.04 0 1.1295E+02 3 0.08 0 1.1959E+02 4 0.12 0 1.3077E+02 5 0.16 0 1.5234E+02
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31 6 0.20 0 -1.6399E+02 7 0.24 0 -1.2698E+02 8 0.28 0 -1.2597E+02 9 0.32 0 -1.3486E+02 10 0.36 0 -1.4633E+02 11 0.40 0 -1.5876E+02 12 0.44 0 -1.7160E+02 13 0.48 0 1.7540E+02 14 0.52 0 1.6242E+02 15 0.56 0 1.4962E+02 16 0.60 0 1.3723E+02 17 0.64 0 1.2566E+02 18 0.68 0 1.1565E+02 19 0.72 0 1.0819E+02 20 0.76 0 1.0383E+02 21 0.80 0 1.0192E+02 22 0.84 0 1.0157E+02 23 0.88 0 1.0218E+02 24 0.92 0 1.0353E+02 25 0.96 0 1.0562E+02 26 1.00 0 1.0861E+02 27 1.04 0 1.1295E+02 28 1.08 0 1.1959E+02 29 1.12 1.3077E+02
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32 0 30 1.16 0 1.5234E+02 31 1.20 0 -1.6399E+02 32 1.24 0 -1.2698E+02 33 1.28 0 -1.2597E+02 34 1.32 0 -1.3486E+02 35 1.36 0 -1.4633E+02 36 1.40 0 -1.5876E+02 37 1.44 0 -1.7160E+02 38 1.48 0 1.7540E+02 39 1.52 0 1.6242E+02 40 1.56 0 1.4962E+02 41 1.60 0 1.3723E+02 42 1.64 0 1.2566E+02 43 1.68 0 1.1565E+02 44 1.72 0 1.0819E+02 45 1.76 0 1.0383E+02 46 1.80 0 1.0192E+02 47 1.84 0 1.0157E+02 48 1.88 0 1.0218E+02 49 1.92 0 1.0353E+02 50 1.96 0 1.0562E+02 51 2.00 0 1.0861E+02 52 2.04 0 1.1295E+02
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33 53 2.08 0 1.1959E+02 54 2.12 0 1.3077E+02 55 2.16 0 1.5234E+02 56 2.20 0 -1.6399E+02 57 2.24 0 -1.2698E+02 58 2.28 0 -1.2597E+02 59 2.32 0 -1.3486E+02 60 2.36 0 -1.4633E+02 61 2.40 0 -1.5876E+02 62 2.44 0 -1.7160E+02 63 2.48 0 1.7540E+02 64 2.52 0 1.6242E+02 65 2.56 0 1.4962E+02 66 2.60 0 1.3723E+02 67 2.64 0 1.2566E+02 68 2.68 0 1.1565E+02 69 2.72 0 1.0819E+02 70 2.76 0 1.0383E+02 71 2.80 0 1.0192E+02 72 2.84 0 1.0157E+02 73 2.88 0 1.0218E+02 74 2.92 0 1.0353E+02 75 2.96 0 1.0562E+02 76 3.00 1.0861E+02
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34 0 77 3.04 0 1.1295E+02 78 3.08 0 1.1959E+02 79 3.12 0 1.3077E+02 80 3.16 0 1.5234E+02 81 3.20 0 -1.6399E+02 82 3.24 0 -1.2698E+02 83 3.28 0 -1.2597E+02 84 3.32 0 -1.3486E+02 85 3.36 0 -1.4633E+02 86 3.40 0 -1.5876E+02 87 3.44 0 -1.7160E+02 88 3.48 0 1.7540E+02 89 3.52 0 1.6242E+02 90 3.56 0 1.4962E+02 91 3.60 0 1.3723E+02 92 3.64 0 1.2566E+02 93 3.68 0 1.1565E+02 94 3.72 0 1.0819E+02 95 3.76 0 1.0383E+02 96 3.80 0 1.0192E+02 97 3.84 0 1.0157E+02 98 3.88 0 1.0218E+02 99 3.92 0 1.0353E+02
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35 100 3.96 0 1.0562E+02 101 4.00 0 1.0861E+02 102 4.04 0 1.1295E+02 103 4.08 0 1.1959E+02 104 4.12 0 1.3077E+02 105 4.16 0 1.5234E+02 106 4.20 0 -1.6399E+02 107 4.24 0 -1.2698E+02 108 4.28 0 -1.2597E+02 109 4.32 0 -1.3486E+02 110 4.36 0 -1.4633E+02 111 4.40 0 -1.5876E+02 112 4.44 0 -1.7160E+02 113 4.48 0 1.7540E+02 114 4.52 0 1.6242E+02 115 4.56 0 1.4962E+02 116 4.60 0 1.3723E+02 117 4.64 0 1.2566E+02 118 4.68 0 1.1565E+02 119 4.72 0 1.0819E+02 120 4.76 0 1.0383E+02 121 4.80 0 1.0192E+02 122 4.84 0 1.0157E+02 123 4.88 1.0218E+02
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36 0 124 4.92 0 1.0353E+02 125 4.96 0 1.0562E+02 126 5.00 0 1.0861E+02 Appendix #: Table 6: Assembly 1 Joint 3 Angular Velocity in the z Direction Data 332Bar-1 Angular Velocity1 (deg/sec) Fram e Time Ref. Coordinate System: 1 0.00 0 8.9044E+01 2 0.04 0 1.3157E+02 3 0.08 0 2.0895E+02 4 0.12 0 3.7205E+02 5 0.16 0 7.6499E+02 6 0.20 0 1.3452E+03 7 0.24 0 3.3397E+02 8 0.28 0 -1.5572E+02 9 0.32 0 -2.6585E+02 10 0.36 0 -3.0224E+02 11 0.40 0 -3.1730E+02 12 0.44 0 -3.2370E+02 13 0.48 0 -3.2530E+02 14 0.52 0 -3.2301E+02 15 0.56 0 -3.1609E+02 16 0.60 0 -3.0173E+02
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37 17 0.64 0 -2.7377E+02 18 0.68 0 -2.2258E+02 19 0.72 0 -1.4737E+02 20 0.76 0 -7.4206E+01 21 0.80 0 -2.4980E+01 22 0.84 0 4.7549E+00 23 0.88 0 2.5048E+01 24 0.92 0 4.2645E+01 25 0.96 0 6.2273E+01 26 1.00 0 8.9044E+01 27 1.04 0 1.3157E+02 28 1.08 0 2.0895E+02 29 1.12 0 3.7205E+02 30 1.16 0 7.6499E+02 31 1.20 0 1.3452E+03 32 1.24 0 3.3397E+02 33 1.28 0 -1.5572E+02 34 1.32 0 -2.6585E+02 35 1.36 0 -3.0224E+02 36 1.40 0 -3.1730E+02 37 1.44 0 -3.2370E+02 38 1.48 0 -3.2530E+02 39 1.52 0 -3.2301E+02 40 1.56 -3.1609E+02
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38 0 41 1.60 0 -3.0173E+02 42 1.64 0 -2.7377E+02 43 1.68 0 -2.2258E+02 44 1.72 0 -1.4737E+02 45 1.76 0 -7.4206E+01 46 1.80 0 -2.4980E+01 47 1.84 0 4.7549E+00 48 1.88 0 2.5048E+01 49 1.92 0 4.2645E+01 50 1.96 0 6.2273E+01 51 2.00 0 8.9044E+01 52 2.04 0 1.3157E+02 53 2.08 0 2.0895E+02 54 2.12 0 3.7205E+02 55 2.16 0 7.6499E+02 56 2.20 0 1.3452E+03 57 2.24 0 3.3397E+02 58 2.28 0 -1.5572E+02 59 2.32 0 -2.6585E+02 60 2.36 0 -3.0224E+02 61 2.40 0 -3.1730E+02 62 2.44 0 -3.2370E+02 63 2.48 0 -3.2530E+02
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39 64 2.52 0 -3.2301E+02 65 2.56 0 -3.1609E+02 66 2.60 0 -3.0173E+02 67 2.64 0 -2.7377E+02 68 2.68 0 -2.2258E+02 69 2.72 0 -1.4737E+02 70 2.76 0 -7.4206E+01 71 2.80 0 -2.4980E+01 72 2.84 0 4.7549E+00 73 2.88 0 2.5048E+01 74 2.92 0 4.2645E+01 75 2.96 0 6.2273E+01 76 3.00 0 8.9044E+01 77 3.04 0 1.3157E+02 78 3.08 0 2.0895E+02 79 3.12 0 3.7205E+02 80 3.16 0 7.6499E+02 81 3.20 0 1.3452E+03 82 3.24 0 3.3397E+02 83 3.28 0 -1.5572E+02 84 3.32 0 -2.6585E+02 85 3.36 0 -3.0224E+02 86 3.40 0 -3.1730E+02 87 3.44 -3.2370E+02
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40 0 88 3.48 0 -3.2530E+02 89 3.52 0 -3.2301E+02 90 3.56 0 -3.1609E+02 91 3.60 0 -3.0173E+02 92 3.64 0 -2.7377E+02 93 3.68 0 -2.2258E+02 94 3.72 0 -1.4737E+02 95 3.76 0 -7.4206E+01 96 3.80 0 -2.4980E+01 97 3.84 0 4.7549E+00 98 3.88 0 2.5048E+01 99 3.92 0 4.2645E+01 100 3.96 0 6.2273E+01 101 4.00 0 8.9044E+01 102 4.04 0 1.3157E+02 103 4.08 0 2.0895E+02 104 4.12 0 3.7205E+02 105 4.16 0 7.6499E+02 106 4.20 0 1.3452E+03 107 4.24 0 3.3397E+02 108 4.28 0 -1.5572E+02 109 4.32 0 -2.6585E+02 110 4.36 0 -3.0224E+02
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41 111 4.40 0 -3.1730E+02 112 4.44 0 -3.2370E+02 113 4.48 0 -3.2530E+02 114 4.52 0 -3.2301E+02 115 4.56 0 -3.1609E+02 116 4.60 0 -3.0173E+02 117 4.64 0 -2.7377E+02 118 4.68 0 -2.2258E+02 119 4.72 0 -1.4737E+02 120 4.76 0 -7.4206E+01 121 4.80 0 -2.4980E+01 122 4.84 0 4.7549E+00 123 4.88 0 2.5048E+01 124 4.92 0 4.2645E+01 125 4.96 0 6.2273E+01 126 5.00 0 8.9044E+01 Appendix F: Table 7: Assembly 1 Joint 3 Linear Displacement in the y Direction Data 332Bar-1 Linear Displacement2 (meter) Fram e Time Ref. Coordinate System: 1 0.00 0 3.1319E+00 2 0.04 0 3.0016E+00 3 0.08 0 2.7574E+00 4 0.12 2.4625E+00
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42 0 5 0.16 0 2.1822E+00 6 0.20 0 1.5752E+00 7 0.24 0 2.2630E-01 8 0.28 0 -5.2129E-01 9 0.32 0 -9.7654E-01 10 0.36 0 -1.3027E+00 11 0.40 0 -1.5261E+00 12 0.44 0 -1.6480E+00 13 0.48 0 -1.6665E+00 14 0.52 0 -1.5817E+00 15 0.56 0 -1.3972E+00 16 0.60 0 -1.1189E+00 17 0.64 0 -7.5191E-01 18 0.68 0 -2.9628E-01 19 0.72 0 2.5154E-01 20 0.76 0 8.7374E-01 21 0.80 0 1.5131E+00 22 0.84 0 2.1016E+00 23 0.88 0 2.5857E+00 24 0.92 0 2.9293E+00 25 0.96 0 3.1126E+00 26 1.00 0 3.1319E+00 27 1.04 0 3.0016E+00
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43 28 1.08 0 2.7574E+00 29 1.12 0 2.4625E+00 30 1.16 0 2.1822E+00 31 1.20 0 1.5752E+00 32 1.24 0 2.2630E-01 33 1.28 0 -5.2129E-01 34 1.32 0 -9.7654E-01 35 1.36 0 -1.3027E+00 36 1.40 0 -1.5261E+00 37 1.44 0 -1.6480E+00 38 1.48 0 -1.6665E+00 39 1.52 0 -1.5817E+00 40 1.56 0 -1.3972E+00 41 1.60 0 -1.1189E+00 42 1.64 0 -7.5191E-01 43 1.68 0 -2.9628E-01 44 1.72 0 2.5154E-01 45 1.76 0 8.7374E-01 46 1.80 0 1.5131E+00 47 1.84 0 2.1016E+00 48 1.88 0 2.5857E+00 49 1.92 0 2.9293E+00 50 1.96 0 3.1126E+00 51 2.00 3.1319E+00
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44 0 52 2.04 0 3.0016E+00 53 2.08 0 2.7574E+00 54 2.12 0 2.4625E+00 55 2.16 0 2.1822E+00 56 2.20 0 1.5752E+00 57 2.24 0 2.2630E-01 58 2.28 0 -5.2129E-01 59 2.32 0 -9.7654E-01 60 2.36 0 -1.3027E+00 61 2.40 0 -1.5261E+00 62 2.44 0 -1.6480E+00 63 2.48 0 -1.6665E+00 64 2.52 0 -1.5817E+00 65 2.56 0 -1.3972E+00 66 2.60 0 -1.1189E+00 67 2.64 0 -7.5191E-01 68 2.68 0 -2.9628E-01 69 2.72 0 2.5154E-01 70 2.76 0 8.7374E-01 71 2.80 0 1.5131E+00 72 2.84 0 2.1016E+00 73 2.88 0 2.5857E+00 74 2.92 0 2.9293E+00
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45 75 2.96 0 3.1126E+00 76 3.00 0 3.1319E+00 77 3.04 0 3.0016E+00 78 3.08 0 2.7574E+00 79 3.12 0 2.4625E+00 80 3.16 0 2.1822E+00 81 3.20 0 1.5752E+00 82 3.24 0 2.2630E-01 83 3.28 0 -5.2129E-01 84 3.32 0 -9.7654E-01 85 3.36 0 -1.3027E+00 86 3.40 0 -1.5261E+00 87 3.44 0 -1.6480E+00 88 3.48 0 -1.6665E+00 89 3.52 0 -1.5817E+00 90 3.56 0 -1.3972E+00 91 3.60 0 -1.1189E+00 92 3.64 0 -7.5191E-01 93 3.68 0 -2.9628E-01 94 3.72 0 2.5154E-01 95 3.76 0 8.7374E-01 96 3.80 0 1.5131E+00 97 3.84 0 2.1016E+00 98 3.88 2.5857E+00
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46 0 99 3.92 0 2.9293E+00 100 3.96 0 3.1126E+00 101 4.00 0 3.1319E+00 102 4.04 0 3.0016E+00 103 4.08 0 2.7574E+00 104 4.12 0 2.4625E+00 105 4.16 0 2.1822E+00 106 4.20 0 1.5752E+00 107 4.24 0 2.2630E-01 108 4.28 0 -5.2129E-01 109 4.32 0 -9.7654E-01 110 4.36 0 -1.3027E+00 111 4.40 0 -1.5261E+00 112 4.44 0 -1.6480E+00 113 4.48 0 -1.6665E+00 114 4.52 0 -1.5817E+00 115 4.56 0 -1.3972E+00 116 4.60 0 -1.1189E+00 117 4.64 0 -7.5191E-01 118 4.68 0 -2.9628E-01 119 4.72 0 2.5154E-01 120 4.76 0 8.7374E-01 121 4.80 0 1.5131E+00
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47 122 4.84 0 2.1016E+00 123 4.88 0 2.5857E+00 124 4.92 0 2.9293E+00 125 4.96 0 3.1126E+00 126 5.00 0 3.1319E+00 Appendix G: Table 8: Assembly 2 Joint 2 Linear Acceleration in the y Direction Data 332Bar-1 Acceleration1 (meter/sec**2) Fram e Time Ref. Coordinate System: 1 0.00 0 -1.6248E+02 2 0.04 0 -1.4855E+02 3 0.08 0 -1.2260E+02 4 0.12 0 -7.4238E+01 5 0.16 0 4.3284E+01 6 0.20 0 6.8611E+02 Appendix H: Table 9: Assembly 2 Joint 2 Linear displacement in the y Direction Data 332Bar-1 Linear Displacement1 (meter) Fram e Time Ref. Coordinate System: 1 0.00 0 2.2420E+00 2 0.04 0 2.2021E+00 3 0.08 0 1.9263E+00 4 0.12 0 1.4570E+00 5 0.16 8.7712E-01
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48 0 6 0.20 0 4.1705E-01 Appendix I: Table 10: Assembly 2 Joint 2 Linear Velocity in the y Direction Data 332Bar-1 Velocity1 (meter/sec) Fram e Time Ref. Coordinate System: 1 0.00 0 2.1761E+00 2 0.04 0 -4.0741E+00 3 0.08 0 -9.5483E+00 4 0.12 0 -1.3593E+01 5 0.16 0 -1.4644E+01 6 0.20 0 -4.4810E+00 Appendix J: Table 11: Assembly 2 Joint 3 Angular Displacement Data 332Bar-1 Angular Displacement1 (deg) Fram e Time Ref. Coordinate System: 1 0.00 0 8.8994E+01 2 0.04 0 9.1958E+01 3 0.08 0 9.5182E+01 4 0.12 0 9.9363E+01 5 0.16 0 1.0618E+02 6 0.20 0 1.2324E+02 Appendix K: Table 12: Assembly 2 Joint 3 Angular Velocity in the z Direction Data 332Bar-1 Angular Velocity1
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49 (deg/sec) Fram e Time Ref. Coordinate System: 1 0.00 0 7.5121E+01 2 0.04 0 7.5155E+01 3 0.08 0 8.8705E+01 4 0.12 0 1.2632E+02 5 0.16 0 2.3635E+02 6 0.20 0 8.0147E+02 Appendix L: Table 13: Assembly 2 Joint 3 Linear Displacement in the y Direction Data 332Bar-1 Linear Displacement2 (meter) Fram e Time Ref. Coordinate System: 1 0.00 0 2.2420E+00 2 0.04 0 2.2021E+00 3 0.08 0 1.9263E+00 4 0.12 0 1.4570E+00 5 0.16 0 8.7712E-01 6 0.20 0 4.1705E-01
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