TABLE: Assembled Joint Masses Joint U1 U2 U3 R1 R2 R3
TABLE: Assembled Joint Masses Joint U1 U2 U3 R1 R2 R3
TABLE: Assembled Joint Masses Joint U1 U2 U3 R1 R2 R3
Joint
U1
U2
U3
R1
R2
R3
Text
KN-s2/m KN-s2/m KN-s2/m KN-m-s2 KN-m-s2 KN-m-s2
1
0.003818 0.003818 0.003818
0
0
0
2
0.005704 0.005704 0.005704
0
0
0
3
0.006396 0.006396 0.006396
0
0
0
4
0.006396 0.006396 0.006396
0
0
0
5
0.006396 0.006396 0.006396
0
0
0
6
0.004309 0.004309 0.004309
0
0
0
7
0.003343 0.003343 0.003343
0
0
0
8
0.003892 0.003892 0.003892
0
0
0
9
0.003937 0.003937 0.003937
0
0
0
10
0.003341 0.003341 0.003341
0
0
0
11
0.003341 0.003341 0.003341
0
0
0
12
0.003341 0.003341 0.003341
0
0
0
13
0.003872 0.003872 0.003872
0
0
0
14
0.002923 0.002923 0.002923
0
0
0
CaseType
Text
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
P
KN
-3.321
-3.321
-3.321
-3.321
-3.321
-3.321
3.321
3.321
3.321
2.359
2.359
2.359
2.359
2.359
2.359
-2.359
-2.359
-2.359
-2.566
-2.566
-2.566
-2.566
-2.566
-2.566
2.566
2.566
2.566
2.348
2.348
2.348
2.348
2.348
2.348
-2.348
-2.348
-2.348
-2.532
-2.532
-2.532
-2.532
-2.532
-2.532
2.532
2.532
2.532
-3.435
-3.435
-3.435
V2
KN
-0.008427
-0.008427
-0.008427
-0.008427
-0.008427
-0.008427
0.008427
0.008427
0.008427
-0.014
-0.014
-0.014
-0.014
-0.014
-0.014
0.014
0.014
0.014
-0.016
-0.016
-0.016
-0.016
-0.016
-0.016
0.016
0.016
0.016
-0.018
-0.018
-0.018
-0.018
-0.018
-0.018
0.018
0.018
0.018
-0.00437
-0.00437
-0.00437
-0.00437
-0.00437
-0.00437
0.00437
0.00437
0.00437
-0.025
-0.025
-0.025
V3
KN
T
KN-m
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
M2
KN-m
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
6
6
6
6
6
6
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
8
8
8
8
8
8
8
8
8
9
9
9
9
9
9
9
9
9
10
10
10
10
10
10
10
10
10
11
11
11
0
0.4
0.8
0
0.4
0.8
0
0.4
0.4
1
2
0
0.4
0.4
1
2
0
0.4
0.4
1
2
0
0.75
1.5
0
0.75
1.5
0
0.75
1.5
0
0.4
0.8
0
0.4
0.8
0
0.4
0.8
0
0.5
1
0
0.5
1
0
0.5
1
0
0.4
0.8
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
-3.435
-0.025
-3.435
-0.025
-3.435
-0.025
3.435
0.025
3.435
0.025
3.435
0.025
-8.895
0.104
-8.895
0.104
-8.931
-0.019
-8.931
-0.019
-8.931
-0.019
-8.895
0.104
-8.895
0.104
-8.931
-0.019
-8.931
-0.019
-8.931
-0.019
8.895
-0.104
8.895
-0.104
8.931
0.019
8.931
0.019
8.931
0.019
-13.596 0.005488
-13.596 0.005488
-13.596 0.005488
-13.596 0.005488
-13.596 0.005488
-13.596 0.005488
13.596 -0.005488
13.596 -0.005488
13.596 -0.005488
0.041
-0.03
0.041
-0.03
0.041
-0.03
0.041
-0.03
0.041
-0.03
0.041
-0.03
-0.041
0.03
-0.041
0.03
-0.041
0.03
-13.566
-0.036
-13.566
-0.036
-13.566
-0.036
-13.566
-0.036
-13.566
-0.036
-13.566
-0.036
13.566
0.036
13.566
0.036
13.566
0.036
0.049
-0.014
0.049
-0.014
0.049
-0.014
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
11
11
11
11
11
11
12
12
12
12
12
12
12
12
12
13
13
13
13
13
13
13
13
13
14
14
14
14
14
14
14
14
14
15
15
15
15
15
15
15
15
15
16
16
16
16
16
16
16
16
16
0
0.4
0.8
0
0.4
0.8
0
0.5
1
0
0.5
1
0
0.5
1
0
0.4
0.8
0
0.4
0.8
0
0.4
0.8
0
0.5
1
0
0.5
1
0
0.5
1
0
0.4
0.8
0
0.4
0.8
0
0.4
0.8
0
0.5
1
0
0.5
1
0
0.5
1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
0.049
0.049
0.049
-0.049
-0.049
-0.049
-9.705
-9.705
-9.705
-9.705
-9.705
-9.705
9.705
9.705
9.705
0.056
0.056
0.056
0.056
0.056
0.056
-0.056
-0.056
-0.056
-9.69
-9.69
-9.69
-9.69
-9.69
-9.69
9.69
9.69
9.69
0.037
0.037
0.037
0.037
0.037
0.037
-0.037
-0.037
-0.037
-5.866
-5.866
-5.866
-5.866
-5.866
-5.866
5.866
5.866
5.866
-0.014
-0.014
-0.014
0.014
0.014
0.014
0.021
0.021
0.021
0.021
0.021
0.021
-0.021
-0.021
-0.021
-0.016
-0.016
-0.016
-0.016
-0.016
-0.016
0.016
0.016
0.016
-0.035
-0.035
-0.035
-0.035
-0.035
-0.035
0.035
0.035
0.035
-0.022
-0.022
-0.022
-0.022
-0.022
-0.022
0.022
0.022
0.022
0.025
0.025
0.025
0.025
0.025
0.025
-0.025
-0.025
-0.025
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
17
17
17
17
17
17
17
17
17
18
18
18
18
18
18
18
18
18
19
19
19
19
19
19
19
19
19
20
20
20
20
20
20
20
20
20
21
21
21
21
21
21
21
21
21
22
22
22
22
22
22
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.5
1
0
0.83104
1.66208
0
0.83104
1.66208
0
0.83104
1.66208
0
0.26575
0.53151
0
0.26575
0.53151
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
-4.797
-0.029
-4.797
-0.029
-4.797
-0.029
-4.797
-0.029
-4.797
-0.029
-4.797
-0.029
4.797
0.029
4.797
0.029
4.797
0.029
-4.81
0.02
-4.81
0.02
-4.81
0.02
-4.81
0.02
-4.81
0.02
-4.81
0.02
4.81
-0.02
4.81
-0.02
4.81
-0.02
-8.662
-0.033
-8.662
-0.033
-8.662
-0.033
-8.662
-0.033
-8.662
-0.033
-8.662
-0.033
8.662
0.033
8.662
0.033
8.662
0.033
-8.684 0.003492
-8.684 0.003492
-8.684 0.003492
-8.684 0.003492
-8.684 0.003492
-8.684 0.003492
8.684 -0.003492
8.684 -0.003492
8.684 -0.003492
9.282
0.018
9.282
0.018
9.282
0.018
9.282
0.018
9.282
0.018
9.282
0.018
-9.282
-0.018
-9.282
-0.018
-9.282
-0.018
7.732
-0.109
7.732
-0.109
7.732
-0.109
7.732
-0.109
7.732
-0.109
7.732
-0.109
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
22
22
22
23
23
23
23
23
23
24
24
24
24
24
24
24
24
24
0
0.26575
0.53151
0
0.45
0
0.45
0
0.45
0
0.30104
0.60208
0
0.30104
0.60208
0
0.30104
0.60208
COMB3
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB1
COMB2
COMB2
COMB2
COMB3
COMB3
COMB3
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
-7.732
-7.732
-7.732
0.123
0.123
0.123
0.123
-0.123
-0.123
4.503
4.503
4.503
4.503
4.503
4.503
-4.503
-4.503
-4.503
0.109
0.109
0.109
-0.036
-0.036
-0.036
-0.036
0.036
0.036
-0.016
-0.016
-0.016
-0.016
-0.016
-0.016
0.016
0.016
0.016
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
M3
KN-m
-0.0015
0.0056
0.0128
-0.0015
0.0056
0.0128
0.0015
-0.0056
-0.0128
-0.0102
-0.0009849
0.0082
-0.0102
-0.0009849
0.0082
0.0102
0.0009849
-0.0082
-0.0092
0.0012
0.0116
-0.0092
0.0012
0.0116
0.0092
-0.0012
-0.0116
-0.0122
-0.0003447
0.0115
-0.0122
-0.0003447
0.0115
0.0122
0.0003447
-0.0115
-0.0063
-0.0035
-0.0007133
-0.0063
-0.0035
-0.0007133
0.0063
0.0035
0.0007133
-0.0131
-0.0033
0.0066
-0.0131
-0.0033
0.0066
0.0131
0.0033
-0.0066
0.0073
-0.0345
-0.0301
-0.0188
0.0001226
0.0073
-0.0345
-0.0301
-0.0188
0.0001226
-0.0073
0.0345
0.0301
0.0188
-0.0001226
-0.0015
-0.0056
-0.0098
-0.0015
-0.0056
-0.0098
0.0015
0.0056
0.0098
-0.0104
0.0014
0.0133
-0.0104
0.0014
0.0133
0.0104
-0.0014
-0.0133
-0.0202
-0.0024
0.0154
-0.0202
-0.0024
0.0154
0.0202
0.0024
-0.0154
-0.0056
-0.0001508
0.0053
-0.0056
-0.0001508
0.0053
0.0056
0.0001508
-0.0053
0.0088
-0.0015
-0.0118
0.0088
-0.0015
-0.0118
-0.0088
0.0015
0.0118
-0.0063
0.000005172
0.0063
-0.0063
0.000005172
0.0063
0.0063
-0.000005172
-0.0063
-0.0181
-0.0004456
0.0173
-0.0181
-0.0004456
0.0173
0.0181
0.0004456
-0.0173
-0.0082
0.0004712
0.0092
-0.0082
0.0004712
0.0092
0.0082
-0.0004712
-0.0092
0.0142
0.0019
-0.0105
0.0142
0.0019
-0.0105
-0.0142
-0.0019
0.0105
-0.0159
-0.0011
0.0136
-0.0159
-0.0011
0.0136
0.0159
0.0011
-0.0136
0.0083
-0.0017
-0.0116
0.0083
-0.0017
-0.0116
-0.0083
0.0017
0.0116
-0.0174
-0.0008184
0.0158
-0.0174
-0.0008184
0.0158
0.0174
0.0008184
-0.0158
0.0066
0.0049
0.0031
0.0066
0.0049
0.0031
-0.0066
-0.0049
-0.0031
-0.0001226
-0.0155
-0.0308
-0.0001226
-0.0155
-0.0308
0.0001226
0.0155
0.0308
-0.0411
-0.0121
0.017
-0.0411
-0.0121
0.017
0.0411
0.0121
-0.017
-0.0118
0.0044
-0.0118
0.0044
0.0118
-0.0044
0.0015
0.0063
0.0111
0.0015
0.0063
0.0111
-0.0015
-0.0063
-0.0111
CaseType
Text
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
F1
KN
1.555
-1.555
1.555
-1.555
-1.555
1.555
1.485
-1.485
1.485
-1.485
-1.485
1.485
1.59
-1.59
1.59
-1.59
-1.59
1.59
1.481
-1.481
1.481
-1.481
-1.481
1.481
1.578
-1.578
1.578
-1.578
-1.578
1.578
-3.435
3.435
-3.435
3.435
3.435
-3.435
-0.104
0.104
-0.104
0.104
0.104
-0.104
0.019
-0.019
0.019
-0.019
-0.019
0.019
F2
KN
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
F3
KN
2.934
-2.934
2.934
-2.934
-2.934
2.934
-1.833
1.833
-1.833
1.833
1.833
-1.833
2.014
-2.014
2.014
-2.014
-2.014
2.014
-1.822
1.822
-1.822
1.822
1.822
-1.822
1.98
-1.98
1.98
-1.98
-1.98
1.98
0.025
-0.025
0.025
-0.025
-0.025
0.025
8.895
-8.895
8.895
-8.895
-8.895
8.895
8.931
-8.931
8.931
-8.931
-8.931
8.931
M1
KN-m
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
8
8
8
8
8
8
9
9
9
9
9
9
10
10
10
10
10
10
11
11
11
11
11
11
12
12
12
12
12
12
13
13
13
13
13
13
14
14
14
14
14
14
15
15
15
15
15
15
16
16
16
9
9
9
9
9
9
10
10
10
10
10
10
11
11
11
11
11
11
12
12
12
12
12
12
13
13
13
13
13
13
14
14
14
14
14
14
15
15
15
15
15
15
16
16
16
16
16
16
17
17
17
1
9
1
9
1
9
9
2
9
2
9
2
9
3
9
3
9
3
3
10
3
10
3
10
3
11
3
11
3
11
11
4
11
4
11
4
11
5
11
5
11
5
5
12
5
12
5
12
5
7
5
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
-0.005488
0.005488
-0.005488
0.005488
0.005488
-0.005488
-0.041
0.041
-0.041
0.041
0.041
-0.041
0.036
-0.036
0.036
-0.036
-0.036
0.036
-0.049
0.049
-0.049
0.049
0.049
-0.049
-0.021
0.021
-0.021
0.021
0.021
-0.021
-0.056
0.056
-0.056
0.056
0.056
-0.056
0.035
-0.035
0.035
-0.035
-0.035
0.035
-0.037
0.037
-0.037
0.037
0.037
-0.037
-0.025
0.025
-0.025
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
13.596
-13.596
13.596
-13.596
-13.596
13.596
0.03
-0.03
0.03
-0.03
-0.03
0.03
13.566
-13.566
13.566
-13.566
-13.566
13.566
0.014
-0.014
0.014
-0.014
-0.014
0.014
9.705
-9.705
9.705
-9.705
-9.705
9.705
0.016
-0.016
0.016
-0.016
-0.016
0.016
9.69
-9.69
9.69
-9.69
-9.69
9.69
0.022
-0.022
0.022
-0.022
-0.022
0.022
5.866
-5.866
5.866
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
16
16
16
17
17
17
17
17
17
18
18
18
18
18
18
19
19
19
19
19
19
20
20
20
20
20
20
21
21
21
21
21
21
22
22
22
22
22
22
23
23
23
23
23
23
24
24
24
24
24
24
17
17
17
18
18
18
18
18
18
19
19
19
19
19
19
20
20
20
20
20
20
21
21
21
21
21
21
22
22
22
22
22
22
23
23
23
23
23
23
24
24
24
24
24
24
25
25
25
25
25
25
7
5
7
2
10
2
10
2
10
10
4
10
4
10
4
4
12
4
12
4
12
12
6
12
6
12
6
8
13
8
13
8
13
13
6
13
6
13
6
13
14
13
14
13
14
13
7
13
7
13
7
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
COMB1
COMB1
COMB2
COMB2
COMB3
COMB3
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
Combination
0.025
0.025
-0.025
0.029
-0.029
0.029
-0.029
-0.029
0.029
-0.02
0.02
-0.02
0.02
0.02
-0.02
0.033
-0.033
0.033
-0.033
-0.033
0.033
-0.003492
0.003492
-0.003492
0.003492
0.003492
-0.003492
-2.531
2.531
-2.531
2.531
2.531
-2.531
-5.01
5.01
-5.01
5.01
5.01
-5.01
0.123
-0.123
0.123
-0.123
-0.123
0.123
3.355
-3.355
3.355
-3.355
-3.355
3.355
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-5.866
-5.866
5.866
4.797
-4.797
4.797
-4.797
-4.797
4.797
4.81
-4.81
4.81
-4.81
-4.81
4.81
8.662
-8.662
8.662
-8.662
-8.662
8.662
8.684
-8.684
8.684
-8.684
-8.684
8.684
8.931
-8.931
8.931
-8.931
-8.931
8.931
5.891
-5.891
5.891
-5.891
-5.891
5.891
0.036
-0.036
0.036
-0.036
-0.036
0.036
3.004
-3.004
3.004
-3.004
-3.004
3.004
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
M2
KN-m
-0.0015
-0.0128
-0.0015
-0.0128
0.0015
0.0128
0.0102
0.0082
0.0102
0.0082
-0.0102
-0.0082
-0.0092
-0.0116
-0.0092
-0.0116
0.0092
0.0116
0.0122
0.0115
0.0122
0.0115
-0.0122
-0.0115
-0.0063
0.0007133
-0.0063
0.0007133
0.0063
-0.0007133
0.0131
0.0066
0.0131
0.0066
-0.0131
-0.0066
-0.0073
-0.0345
-0.0073
-0.0345
0.0073
0.0345
0.0301
0.0001226
0.0301
0.0001226
-0.0301
-0.0001226
M3
KN-m
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0.0015
-0.0098
0.0015
-0.0098
-0.0015
0.0098
-0.0104
-0.0133
-0.0104
-0.0133
0.0104
0.0133
0.0202
0.0154
0.0202
0.0154
-0.0202
-0.0154
-0.0056
-0.0053
-0.0056
-0.0053
0.0056
0.0053
-0.0088
-0.0118
-0.0088
-0.0118
0.0088
0.0118
-0.0063
-0.0063
-0.0063
-0.0063
0.0063
0.0063
0.0181
0.0173
0.0181
0.0173
-0.0181
-0.0173
-0.0082
-0.0092
-0.0082
-0.0092
0.0082
0.0092
-0.0142
-0.0105
-0.0142
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-0.0105
0.0142
0.0105
0.0159
0.0136
0.0159
0.0136
-0.0159
-0.0136
-0.0083
-0.0116
-0.0083
-0.0116
0.0083
0.0116
0.0174
0.0158
0.0174
0.0158
-0.0174
-0.0158
-0.0066
0.0031
-0.0066
0.0031
0.0066
-0.0031
-0.0001226
0.0308
-0.0001226
0.0308
0.0001226
-0.0308
-0.0411
-0.017
-0.0411
-0.017
0.0411
0.017
0.0118
0.0044
0.0118
0.0044
-0.0118
-0.0044
-0.0015
0.0111
-0.0015
0.0111
0.0015
-0.0111
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
U1
m
0
0
0
0.001168
0.001168
-0.001168
0.001301
0.001301
-0.001301
0.001624
0.001624
-0.001624
0.001555
0.001555
-0.001555
0.001837
0.001837
-0.001837
0.001882
0.001882
-0.001882
0.001268
0.001268
-0.001268
0.001168
0.001168
-0.001168
0.001301
0.001301
-0.001301
0.001623
0.001623
-0.001623
0.001556
0.001556
-0.001556
0.00195
0.00195
-0.00195
0.001949
0.001949
-0.001949
U2
m
U3
m
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
-0.000728
-0.000728
0.000728
-0.000559
-0.000559
0.000559
-0.000886
-0.000886
0.000886
-0.000878
-0.000878
0.000878
-0.001172
-0.001172
0.001172
-0.000974
-0.000974
0.000974
0
0
0
-0.000336
-0.000336
0.000336
-0.000807
-0.000807
0.000807
-0.000718
-0.000718
0.000718
-0.001029
-0.001029
0.001029
-0.000983
-0.000983
0.000983
-0.001033
-0.001033
0.001033
R1
R2
Radians
Radians
0
0.000996
0
0.000996
0
-0.000996
0
0.000342
0
0.000342
0
-0.000342
0
0.000256
0
0.000256
0
-0.000256
0
0.000151
0
0.000151
0
-0.000151
0
0.000121
0
0.000121
0
-0.000121
0
0.000428
0
0.000428
0
-0.000428
0
0.000249
0
0.000249
0
-0.000249
0
-0.00176
0
-0.00176
0
0.00176
0
0.00042
0
0.00042
0
-0.00042
0
0.000264
0
0.000264
0
-0.000264
0
0.000151
0
0.000151
0
-0.000151
0
0.000095
0
0.000095
0
-0.000095
0 -0.000009372
0 -0.000009372
0 0.000009372
0
-0.000123
0
-0.000123
0
0.000123
R3
Radians
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
U1
KN
1.55
1.55
-1.55
0
0
0
U2
KN
0
0
0
0
0
0
U3
KN
16.53
16.53
-16.53
-0.79
-4.31
0.79
R1
KN-m
R2
KN-m
0
0
0
0
0
0
R3
KN-m
0
0
0
0
0
0
0
0
0
0
0
0