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<job xmlns="http://lim.ii.udc.es/mbsml">
    <model id="A03_Model_MBsML">
        <ground>
			<geometry>
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				<point id="B">
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				<inertia>
					<standard>
						<mass uom="kg">0.04325</mass>
						<centerOfMass id="centerOfMass">
							<x>0.00092</x>
							<y>0.0</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>2.194e-06</Izz>
						</inertiaTensor>
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				</inertia>
			</body>
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				<inertia>
					<standard>
						<mass uom="kg">0.00365</mass>
						<centerOfMass id="centerOfMass">
							<x>0.0165</x>
							<y>0.0</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>4.410e-07</Izz>
						</inertiaTensor>
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				</inertia>
			</body>
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				<inertia>
					<standard>
						<mass uom="kg">0.02373</mass>
						<centerOfMass id="centerOfMass">
							<x>0.01043</x>
							<y>0.01626</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>5.255e-06</Izz>
						</inertiaTensor>
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				</inertia>
			</body>
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				<geometry>
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						<z>1.0</z>
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				</geometry>
				<inertia>
					<standard>
						<mass uom="kg">0.00706</mass>
						<centerOfMass id="centerOfMass">
							<x>0.00579</x>
							<y>0.0</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>5.667e-07</Izz>
						</inertiaTensor>
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				</inertia>
			</body>
			<body id="rod5">
				<geometry>
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						<y>0.0</y>
						<z>1.0</z>
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				</geometry>
				<inertia>
					<standard>
						<mass uom="kg">0.07050</mass>
						<centerOfMass id="centerOfMass">
							<x>0.02308</x>
							<y>0.00916</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>1.169e-05</Izz>
						</inertiaTensor>
					</standard>
				</inertia>
			</body>
			<body id="rod6">
				<geometry>
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						<z>1.0</z>
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				</geometry>
				<inertia>
					<standard>
						<mass uom="kg">0.00706</mass>
						<centerOfMass id="centerOfMass">
							<x>0.00579</x>
							<y>0.0</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>5.667e-07</Izz>
						</inertiaTensor>
					</standard>
				</inertia>
			</body>
			<body id="rod7">
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				<inertia>
					<standard>
						<mass uom="kg">0.05498</mass>
						<centerOfMass id="centerOfMass">
							<x>0.01228</x>
							<y>0.00449</y>
							<z>0.0</z>
						</centerOfMass>
						<inertiaTensor>
							<Ixx>0.0</Ixx>
							<Iyy>0.0</Iyy>
							<Izz>1.912e-05</Izz>
						</inertiaTensor>
					</standard>
				</inertia>
			</body>
			<distance id="elongation">
			    <fromPoint bodyRef="rod3" idref="p3"/> 
			    <toPoint bodyRef="ground" idref="C"/>
			</distance>
			<angle id="beta">
			    <fromDir>
			        <fromPoint bodyRef="rod1" idref="p1"/>
			        <toPoint bodyRef="rod1" idref="p2"/>
			    </fromDir>  
			    <toDir bodyRef="ground" idref="x"/>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="theta">
			    <fromDir>
			        <fromPoint bodyRef="rod2" idref="p1"/>
			        <toPoint bodyRef="rod2" idref="p2"/>
			    </fromDir>
			    <toDir>
			        <fromPoint bodyRef="rod1" idref="p1"/>
			        <toPoint bodyRef="rod1" idref="p2"/>
			    </toDir>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="gamma">
			    <fromDir>
			        <fromPoint bodyRef="rod3" idref="p1"/>
			        <toPoint bodyRef="rod3" idref="p2"/>
			    </fromDir>
			    <toDir bodyRef="ground" idref="y"/>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="phi">
			    <fromDir>
			        <fromPoint bodyRef="rod4" idref="p1"/>
			        <toPoint bodyRef="rod4" idref="p2"/>
			    </fromDir>
			    <toDir bodyRef="rod5" id="perpendicularRod">
			        <x>0</x>
			        <y>-0.04</y>
			        <z>0</z>
			    </toDir>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="omega">
			    <fromDir bodyRef="rod7" id="perpendicularRod">
			        <x>0</x>
			        <y>0.04</y>
			        <z>0</z>
			    </fromDir>
			    <toDir>
			        <fromPoint bodyRef="rod6" idref="p1"/>
			        <toPoint bodyRef="rod6" idref="p2"/>
			    </toDir>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="delta">
			    <fromDir>
			        <fromPoint bodyRef="rod5" idref="p1"/>
			        <toPoint bodyRef="rod5" idref="p2"/>
			    </fromDir>
			    <toDir bodyRef="ground" idref="x"/>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<angle id="epsilon">
			    <fromDir>
			        <fromPoint bodyRef="rod7" idref="p1"/>
			        <toPoint bodyRef="rod7" idref="p2"/>
			    </fromDir>
			    <toDir bodyRef="ground" idref="x"/>
			    <alongDir bodyRef="ground" idref="z"/>
			</angle>
			<joint.revolute id="rod1ToGround">
				<body idref="ground">
					<axisPoint idref="O"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod1">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod1ToRod2">
				<body idref="rod1">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod2">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod2ToRod3">
				<body idref="rod2">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod3">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod2ToRod6">
				<body idref="rod2">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod6">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod2ToRod4">
				<body idref="rod2">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod4">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod3ToGround">
				<body idref="ground">
					<axisPoint idref="B"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod3">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod4ToRod5">
				<body idref="rod4">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod5">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod5ToGround">
				<body idref="ground">
					<axisPoint idref="A"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod5">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod6ToRod7">
				<body idref="rod6">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod7">
					<axisPoint idref="p2"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<joint.revolute id="rod7ToGround">
				<body idref="ground">
					<axisPoint idref="A"/>
					<axisDir idref="z"/>
				</body>
				<body idref="rod7">
					<axisPoint idref="p1"/>
					<axisDir idref="z"/>
				</body>
			</joint.revolute>
			<actuator.linear id="spring">
				<onDistance idref="elongation"/>
				<law>
				    <spring-damper id="spring">
						<stiffness uom="N/m">4530</stiffness>
						<damping uom="N.s/m">0.0</damping>
						<naturalLenght uom="m">0.07785</naturalLenght>										
				    </spring-damper>
				 </law>				
			</actuator.linear>
		    <actuator.rotary id="motion">
			    <onAngle idref="beta"/>
			    <law>
				    <forceMagnitude uom="N.m">0.033</forceMagnitude>
				</law>						
			</actuator.rotary>
		
    </model>
    <task>
        <analysis>
        </analysis>
    </task>
</job>
