| 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) |