6-DOF Joint | Joint with one spherical and three prismatic primitives |

Angle Constraint | Fixed angle between two frame Z axes |

Bearing Joint | Joint with one prismatic and three revolute primitives |

Bevel Gear Constraint | Kinematic constraint for transferring rotational motion at a fixed ratio about arbitrarily oriented axes |

Bushing Joint | Joint with three prismatic and three revolute primitives |

Cartesian Joint | Joint with three prismatic primitives |

Common Gear Constraint | Kinematic constraint for transferring rotational motion at a fixed ratio about parallel axes |

Constant Velocity Joint | Joint with two rotational DoFs between shafts constrained to spin with equal velocity |

Cylindrical Joint | Joint with one prismatic and one revolute primitives possessing parallel motion axes |

Distance Constraint | Fixed distance between two frame origins |

External Force and Torque | General force and torque arising outside the modeled system |

Gimbal Joint | Joint with three revolute primitives |

Graphic | Visual marker with graphic properties |

Gravitational Field | Field of force due to point mass |

Inertia | Inertial properties of a solid or mass disturbance |

Internal Force | General force acting reciprocally between two frame origins |

Inverse Square Law Force | Force proportional to the inverse square distance between two frame origins |

Lead Screw Joint | Joint with coupled rotational and translational degrees of freedom |

Mechanism Configuration | Mechanism-wide simulation and mechanical parameters |

Pin Slot Joint | Joint with one prismatic and one revolute primitives possessing mutually orthogonal motion axes |

Planar Joint | Joint with one revolute and two prismatic primitives |

Prismatic Joint | Joint with one prismatic primitive |

Rack and Pinion Constraint | Kinematic constraint for converting between rotation and translation |

Rectangular Joint | Joint with two prismatic primitives |

Reference Frame | Non-inertial reference frame |

Revolute Joint | Joint with one revolute primitive |

Rigid Transform | Time-invariant rotation and translation transforms between two frames |

Solid | Rigid solid with geometry, inertia, and color |

Spherical Joint | Joint with one spherical primitive |

Spring and Damper Force | Force proportional to the distance and relative velocity between two frame origins |

Telescoping Joint | Joint with one prismatic and one spherical joint primitive |

Transform Sensor | Sensor that measures the spatial relationship between two frames |

Universal Joint | Joint with two revolute primitives |

Weld Joint | Joint with zero primitives |

World Frame | Inertial reference frame |

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