Locomotive/Train Pantograph Rig - Yoke Assembly - Animation and

I am trying to set up a rig for a locomotive/train pantograph. So far I have been able to successfully rig the main moving parts of the pantograph using IK constraints. However, I am having trouble rigging what is known as the yoke assembly. The yoke assembly is a chain of interconnected pieces (No. 43-47 on diagram) which connect the springs to the rotating spindle (No. 4 on diagram) of the pantograph. It prevents the springs from touching the pantograph frame. When the pantograph is down

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