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Cannot animate constraints


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I am trying to make a robotic arm. The base is connected to rotate. Which is connected to link 2 which in turn joins with link3. Hook is attached to link 3. I want to move the links 2 and link3 up and down, but none of my constrainst seem to work and it won't let me animate it. Can you please help me out.
I have also uplaoded the assembly and I used joints for the links as well. Where am I going wrong?

rotate.ipt link3.ipt link2.ipt hook.ipt base.ipt Assembly.iam

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