Primitive Joints

 

Primitive joints place a restriction on relative motion, such as restricting one part to always move parallel to another part. The primitive joints do not have physical counterparts as the general joints do. However, the user combine primitive joints to define a complex constraint that cannot be modeled using the general joints. In fact, the user can use the primitive joints to create any of the general joints.

 

Degree of Freedom

Joint Name

Const.No

DOF.No

DOF.Axis

Distance

Tra : 1

Rot : 0

Tra : 2

Rot : 3

Y Z

X Y Z

Atpoint

Tra : 3

Rot : 0

Tra : 0

Rot : 3

 

X Y Z

Inline

Tra : 2

Rot : 0

Tra : 1

Rot : 3

Z

X Y Z

Inplane

Tra : 1

Rot : 0

Tra : 2

Rot : 3

X Y

X Y Z

Orientation

Tra : 0

Rot : 3

Tra : 3

Rot : 0

X Y Z

OnOff

6

0

User-Defined

Parallel

Tra : 0

Rot : 2

Tra : 3

Rot : 1

X Y Z

Z

Perpendicular

Tra : 0

Rot : 1

Tra : 3

Rot : 2

X Y Z

X Y

Cartesian Motion

1

5

User-defined