The 'RapidReturn 1' motionlaw is Not available in the MotionLaw Selector. The RapidReturn1' motionlaw is a Rise & Return motionlaw that is continuous in Velocity and Acceleration throughout. Construct the 'RapidReturn 1' motion with two Flexible Polynomial Segments. The first segment is the 'Rise', and the second the 'Return'. Each segment is a 'mirror' of each other. Usually, the segments have an equal duration, but this is not necessary. Continuity at the MidPoint BlendPoint The Position is a maximum, and the Velocity is zero. The Rise segment [below, in Blue] ends with a finite, negative acceleration. The Return segment [below, in Red] starts with the same finite, negative acceleration. Thus, there is acceleration continuity. The Jerk is discontinuous at the midpoint. [The Jerk is also discontinuous at its start an end points]. The position graph makes a rapidreturn at the midpoint because there is a large negative, but continuous, acceleration at the midpoint. The transition from Rise to Return is more rapid than QuickReturn 1 and QuickReturn 2. Thus we call it a RapidReturn 1. See Also: * An acceleration discontinuity would give a very poor dynamic response if applied to any mechanical system. Two Segment 'RapidReturn Motion 1'
