Adams View model name: MODEL_1
!
!-------------------------------- SYSTEM UNITS ---------------------------------
!
UNITS/
, FORCE = NEWTON
, MASS = KILOGRAM
, LENGTH = MILLIMETER
, TIME = SECOND
!
!----------------------------------- PARTS -------------------------------------
!
!----------------------------------- Ground ------------------------------------
!
!                            adams_view_name='ground'
PART/1
, GROUND
!
!                           adams_view_name='MARKER_8'
MARKER/8
, PART = 1
, REULER = 90D, 90D, 0D
!
!                          adams_view_name='MARKER_16'
MARKER/16
, PART = 1
, REULER = 90D, 90D, 0D
!
!------------------------------------ Part -------------------------------------
!
!                            adams_view_name='PART_2'
PART/2
, QG = 0, 0, -100
, MASS = 124.816
, CM = 9
, IP = 7.072906667E+006, 6.760866667E+006, 5.200666667E+005
!
!                           adams_view_name='MARKER_1'
MARKER/1
, PART = 2
, QP = -400, -50, 0
!
!                           adams_view_name='MARKER_6'
MARKER/6
, PART = 2
, QP = 0, 0, 100
!
!                           adams_view_name='MARKER_7'
MARKER/7
, PART = 2
, QP = 0, 0, 100
, REULER = 90D, 90D, 0D
!
!                              adams_view_name='cm'
MARKER/9
, PART = 2
, QP = 5.551115123E-014, 6.938893904E-015, 100
, REULER = 90D, 90D, 0D
!
!                          adams_view_name='MARKER_11'
MARKER/11
, PART = 2
, QP = 3.061616998E-014, 500, 100
!
!                          adams_view_name='MARKER_12'
MARKER/12
, PART = 2
, QP = 3.061616998E-014, 500, 100
!
!                          adams_view_name='MARKER_13'
MARKER/13
, PART = 2
, QP = 0, 0, 100
!
!                          adams_view_name='MARKER_15'
MARKER/15
, PART = 2
, QP = 0, 0, 100
, REULER = 90D, 90D, 0D
!
!                            adams_view_name='BOX_1'
GRAPHICS/1
, BOX
, CORNER = 1
, X = 800
, Y = 100
, Z = 200
!
!------------------------------------ Part -------------------------------------
!
!                            adams_view_name='PART_3'
PART/3
, QG = -6.932985002E-012, 2.448995867E-011, 0
, REULER = 5D, 0D, 0D
, MASS = 36.61408371
, CM = 10
, IP = 5.781627155E+005, 5.777757254E+005, 1.313564884E+005
!
!                           adams_view_name='MARKER_2'
MARKER/2
, PART = 3
, REULER = 90D, 0D, 0D
!
!                           adams_view_name='MARKER_3'
MARKER/3
, PART = 3
, QP = -6.938893904E-015, 600, 0
, REULER = 90D, 0D, 0D
!
!                           adams_view_name='MARKER_4'
MARKER/4
, PART = 3
, QP = 3.673940397E-014, 600, 0
!
!                           adams_view_name='MARKER_5'
MARKER/5
, PART = 3
!
!                              adams_view_name='cm'
MARKER/10
, PART = 3
, QP = 3.673940397E-014, 600, 0
, REULER = 180D, 90D, 90D
!
!                          adams_view_name='MARKER_14'
MARKER/14
, PART = 3
, QP = 4.487667713E-012, 600, 0
, REULER = 355D, 0D, 0D
!
!                         adams_view_name='ELLIPSOID_3'
GRAPHICS/2
, ELLIPSOID
, CM = 4
, XSCALE = 200
, YSCALE = 200
, ZSCALE = 200
!
!------------------------------ DYNAMIC GRAPHICS -------------------------------
!
!                   adams_view_name='SFORCE_1_force_graphic_1'
GRAPHICS/3
, FORCE
, ETYPE = SFORCE
, EID = 1
, EMARKER = 15
!
!-------------------------------- CONSTRAINTS ----------------------------------
!
!                           adams_view_name='JOINT_1'
JOINT/1
, REVOLUTE
, I = 5
, J = 6
!
!                           adams_view_name='JOINT_2'
JOINT/2
, TRANSLATIONAL
, I = 7
, J = 8
!
!----------------------------------- FORCES ------------------------------------
!
!                           adams_view_name='SFORCE_1'
SFORCE/1
, TRANSLATIONAL
, I = 15
, J = 16
, ACTIONONLY
, FUNCTION = VARVAL(5)
!
!------------------------------ DATA STRUCTURES --------------------------------
!
!                             adams_view_name='POS'
VARIABLE/1
, FUNCTION = DX(9,0,0)
!
!                             adams_view_name='VELO'
VARIABLE/2
, FUNCTION = VX(9,0,0)
!
!                             adams_view_name='ACCE'
VARIABLE/3
, FUNCTION = ACCX(9,0,0)
!
!                         adams_view_name='MEA_ANGLE_1'
VARIABLE/4
, FUNCTION = RTOD*INCANG(12,13,14)
!
!                        adams_view_name='Force_of_carry'
VARIABLE/5
, IC = 0
, FUNCTION = 0
!
!                           adams_view_name='ThetaDot'
VARIABLE/6
, FUNCTION = RTOD*WZ(10,0,0)
!
!                         adams_view_name='ThetaDotDot'
VARIABLE/7
, FUNCTION = RTOD*WDTZ(10,0,0)
!
!                            adams_view_name='ThetaD'
VARIABLE/8
, IC = 0
, FUNCTION = varval(6)
!
!                            adams_view_name='Theta'
VARIABLE/9
, IC = 0
, FUNCTION = varval(4)
!
!                           adams_view_name='ThetaDD'
VARIABLE/10
, IC = 0
, FUNCTION = varval(7)
!
!                           adams_view_name='POSITION'
VARIABLE/11
, IC = 0
, FUNCTION = varval(1)
!
!                          adams_view_name='VelocityC'
VARIABLE/12
, IC = 0
, FUNCTION = varval(2)
!
!                        adams_view_name='ACCELERATIONC'
VARIABLE/13
, IC = 0
, FUNCTION = varval(3)
!
!                 adams_view_name='Controls_Plant_1.ctrl_pinput'
PINPUT/1
, VARIABLES = 5
!
!                    adams_view_name='CART_PEND.ctrl_pinput'
PINPUT/2
, VARIABLES = 5
!
!                adams_view_name='Controls_Plant_1.ctrl_poutput'
POUTPUT/1
, VARIABLES = 8, 9, 10, 11, 12, 13
!
!                    adams_view_name='CART_PEND.ctrl_poutput'
POUTPUT/2
, VARIABLES = 8, 9, 10, 11, 12, 13
!
!------------------------- GRAVITATIONAL ACCELERATION --------------------------
!
ACCGRAV/
, JGRAV = -9806.65
!
!----------------------------- ANALYSIS SETTINGS -------------------------------
!
OUTPUT/
, REQSAVE
, GRSAVE
!
RESULTS/
, XRF
!
END