revolute joints
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!*AnsysED10/PREP7ET,1,BEAM188mp,ex,1,30e10 $ mp,prxy,1,0.33SECTYPE, 1, BEAM, CSOLID, entyu $ SECDATA,0.05ET,2,MPC184,6N,1,0.0,0,0 $ N,2,0.2,0,0 $ N,3,0.4,0,0 $ N, 4,0.6,0,0 $ N, 5,0.8,0,0 $N, 6,1.0,0,0N,7,1.0,0,0 $ N,8,1.2,0,0 $ N,9,1.4,0,0 $ N,10,1.6,0,0 $ N,11,1.8,0,0 $N,12,2.0,0,0TYPE,1 $ MAT,1 $ SECNUM,1EN,1,1,2 $ EN,2,2,3 $ EN,3,3,4 $ EN,4,4,5 $ EN,5,5,6EN,6,7,8 $ EN,7,8,9 $ EN,8,9,10$ EN,9,10,11 $ EN,10,11,12SECTYPE,2,JOIN,REVO,kaitenLOCAL,11,0,0,0,0, , ,-90,1,1, $ SECJOINT,,11CSYS,0SECSTOP,4,0,1 !* STOP at 0rad , 1radTYPE,2 $ SECNUM,2EN,20,6,7FINISH/SOLVEANTYPE,0 $ AUTOTS,0 $ NLGEOM,1 $ NSUBST,10,10000,10 $ OUTRES,ALL,ALLTIME,1D,1,ALL,0 $ D,12,ROTZ,1.5 !*rotate 1.5radSOLVE/POST1/DIST,1,1.3,0 $ /ESHAPE,1.0PLNS,S,EQV $ /REPLOTANTIME,10,0.5, ,1,2,0,1ANIM, 10,1,0.506-08