DMU Kinematics Simulator lets you define and edit 16 different joint types.
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DMU Kinematics Simulator lets you define and edit 16 different joint types. |
The tables below describe the joint types and their characteristics:
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DMU Kinematics Simulator lets you define the following
joints using axis systems:
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V4 NAME |
JOINT TYPE |
DEGREES OF FREEDOM |
COMMAND TYPE |
DIRECT MANIPULATION |
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revolute |
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1 Rotation |
Angle |
YES / Left-mouse button |
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prismatic |
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1 Translation |
Length |
YES / Left-mouse button |
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actuator |
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1 Rotation
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Length + Angle |
Length:
Left-mouse button |
Angle: |
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AND/OR |
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Angle or Length |
YES /
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pt/pt |
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3 Rotations |
_ |
NO |
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planar |
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2 Translations |
_ |
NO |
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rigid |
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_ |
_ |
NO |
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roll/crv |
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1 Rotation |
Length |
NO |
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slid/crv |
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2 Rotations |
_ |
NO |
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pt/crv |
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3 Rotations |
Length |
NO |
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pt/surf |
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2 Translations |
_ |
NO |
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u jnt |
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1 Rotation |
_ |
NO |
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gear |
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1 Rotation |
Angle1 or Angle2 |
YES / Left-mouse button |
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rack |
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1 Rotation or |
Length1 or Angle2 |
YES / Left-mouse button |
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cable |
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1 Translation |
Length1 or Length2 |
YES / Left-mouse button |
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screw |
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1 Rotation or |
Angle or Length |
YES / Left-mouse button |
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cv joint |
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_ |
_ |
NO |
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Only the joints which are assigned a command can be manipulated. |
JOINT TYPE |
SELECTIONS |
RATIO |
*CONDITIONS |
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sel.1 |
sel.2 |
sel.3 |
sel.4 |
sel.5 |
sel.6 |
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Line |
Line |
Plane |
Plane |
Plane |
Plane |
_ |
(1)(2)(3)(6) |
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Line |
Line |
Plane |
Plane |
_ |
_ |
_ |
(1)(2)(4) |
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Line |
Line |
_ |
_ |
_ |
_ |
_ |
(1) |
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Point |
Point |
_ |
_ |
_ |
_ |
_ |
(1) |
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Plane |
Plane |
_ |
_ |
_ |
_ |
_ |
(1) |
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Product |
Product |
_ |
_ |
_ |
_ |
_ |
(1) |
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Curve |
Curve |
_ |
_ |
_ |
_ |
_ |
(1) |
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Curve |
Curve |
_ |
_ |
_ |
_ |
_ |
(1) |
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Curve |
Point |
_ |
_ |
_ |
_ |
_ |
(1) |
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Surface |
Point |
_ |
_ |
_ |
_ |
_ |
(1) |
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Line |
Line |
Line |
_ |
_ |
_ |
_ |
(1)(5) |
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Revolute |
Revolute |
_ |
_ |
_ |
_ |
Ratio |
(7) |
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Line |
Line |
_ |
_ |
_ |
_ |
Ratio |
(1) |
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Prismatic |
Prismatic |
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Ratio |
(7) |
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Prismatic |
Revolute |
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Ratio |
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U joint |
U joint |
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(7)(8) |
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*Conditions between selections: |
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(1) |
selection 1 in another product than selection 2 |
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(2) |
selection 3 in either first selections' product, selection 4 in the other |
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line orthogonal to plane of same part |
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(4) |
line lying in plane of same part |
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(5) |
line 'selection 3' must be in either first selections' product and cross selection |
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(6) |
selection 5 and 6 are optional ('centered case'); selection 5 in either first selections' product, selection 6 in the other |
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(7) |
compound joints are based on basic joints selection or on-the-fly creation: a part is shared by the two joints |
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(8) |
requires equal input and output angles |
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