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 |