This package contains **joint components**, that
is, idealized, massless elements that constrain the motion between
frames. In subpackage **Assemblies** aggregation joint
components are provided to handle kinematic loops analytically
(this means that non-linear systems of equations occurring in these
joint aggregations are analytically solved, i.e., robustly and
efficiently).

Model |
Description |
---|---|

Prismatic | Prismatic joint and actuated prismatic joint (1 translational
degree-of-freedom, 2 potential states) |

Revolute | Revolute and actuated revolute joint (1 rotational
degree-of-freedom, 2 potential states) |

Cylindrical | Cylindrical joint (2 degrees-of-freedom, 4 potential
states) |

Universal | Universal joint (2 degrees-of-freedom, 4 potential
states) |

Planar | Planar joint (3 degrees-of-freedom, 6 potential states) |

Spherical | Spherical joint (3 constraints and no potential states, or 3
degrees-of-freedom and 3 states) |

FreeMotion | Free motion joint (6 degrees-of-freedom, 12 potential
states) |

SphericalSpherical | Spherical - spherical joint aggregation (1 constraint, no
potential states) with an optional point mass in the middle |

UniversalSpherical | Universal - spherical joint aggregation (1 constraint, no
potential states) |

GearConstraint | Ideal 3-dim. gearbox (arbitrary shaft directions) |

MultiBody.Joints.Assemblies | Package of joint aggregations for analytic
loop handling. |

MultiBody.Joints.Constraints | Package of components that define joints by
constraints |

Name | Description |
---|---|

Prismatic | Prismatic joint (1 translational degree-of-freedom, 2 potential states, optional axis flange) |

Revolute | Revolute joint (1 rotational degree-of-freedom, 2 potential states, optional axis flange) |

RevolutePlanarLoopConstraint | Revolute joint that is described by 2 positional constraints for usage in a planar loop (the ambiguous cut-force perpendicular to the loop and the ambiguous cut-torques are set arbitrarily to zero) |

Cylindrical | Cylindrical joint (2 degrees-of-freedom, 4 potential states) |

Universal | Universal joint (2 degrees-of-freedom, 4 potential states) |

Planar | Planar joint (3 degrees-of-freedom, 6 potential states) |

Spherical | Spherical joint (3 constraints and no potential states, or 3 degrees-of-freedom and 3 states) |

FreeMotion | Free motion joint (6 degrees-of-freedom, 12 potential states) |

FreeMotionScalarInit | Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states) |

SphericalSpherical | Spherical - spherical joint aggregation (1 constraint, no potential states) with an optional point mass in the middle |

UniversalSpherical | Universal - spherical joint aggregation (1 constraint, no potential states) |

GearConstraint | Ideal 3-dim. gearbox (arbitrary shaft directions) |

RollingWheel | Joint (no mass, no inertia) that describes an ideal rolling wheel (rolling on the plane z=0) |

RollingWheelSet | Joint (no mass, no inertia) that describes an ideal rolling wheel set (two ideal rolling wheels connected together by an axis) |

Assemblies | Components that aggregate several joints for analytic loop handling |

Constraints | Components that define joints by constraints |

Internal | Components used for analytic solution of kinematic loops (use only if you know what you are doing) |

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