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I know the subject of chains has been discussed in-depth on the forum and I think I hunted up all the posts related to it. I am wondering if anyone could give me any ideas on ways to simplify this to get better performance? https://cad.onshape.com/documents/b289e23ee832231bdd4a4708/w/7f41f4cdb4df01f33d333bee/e/4be86dd71f7768dd214c69d8