
cable joint 
A cable type joint between three products (two products are mobile, the
other is a reference). Number of degrees of
freedom is 1 (translation). 
cylindrical joint 
A translation type joint between two products along an
axis with a rotation about that axis. Number of
degrees of freedom is 2 (1 translation and 1
rotation). This joint was called Actuator in Version 4. 
command 
An angular or linear command that drives the
kinematics mechanism. 
CV joint 
A constant velocity joint between two products. Number
of degrees of freedom is 4 (comprises two
U joints). 

degrees of freedom 
The number of possible independent rotation or
translation movements of a joint. 
dress up 
A list of models attached to a set of the kinematics
model. These models have the same motion as the set. 

fixed product 
The product that remains stationary when the
kinematics mechanism is in motion. 

gear joint 
A gear type joint between three products (two products
are pinions, the other is a reference). Number of
degrees of freedom is 1 (rotation). 

joint 
A constraint between geometric entities of two or three
products. There are several types of joint. 
joint stop 
An imposed limit applied to a joint. 

kinematics mechanism 
A mechanism comprising several products that are
connected by joints.
It can be simulated when the number of commands is
equal to degrees of freedom (in this case the mechanism is said to be
complete). 
kinematics product 
A rigid product defined in a single geometric set that
contains all the elements required to describe the kinematics mechanism and
its motion. 
kinematics simulation 
A simulation of the mechanism's motion using commands.
Simulation can be immediate (commands are used one by one) or on request
(one or more commands are used with a given number of steps). 

law 
A numeric or graphic representation of the commands
applied to a kinematics mechanism as a function of time. 

planar joint 
A planar joint between two products. Number of
degrees of freedom is 3 (1 rotation and 2
translations). 
prismatic joint 
A translation joint between tow products along an axis
with no rotation about that axis. Number of
degrees of freedom is 1 (translation). 
PT/CRV joint 
A point/curve joint between two products. Number of
degrees of freedom is 4 (3 rotation and 1
translation) for a 3D mechanism and 2 (1 rotation and 1 translation) for a
2D mechanism. 
PT/SUR joint 
A point/surface joint between two products. Number of
degrees of freedom is 5 (3 rotations and 2
translations). 

rack joint 
A gear/rack type joint between three products (one
product is the rack, another is the rack, the other is a reference). Number
of degrees of freedom is 1 (combined
translation and rotation). 
revolute joint 
A revolute joint about an axis between two products
with no translation along that axis. Number of
degrees of freedom is 1 (rotation). 
rigid joint 
A rigid (fully restricted) joint between two products.
There are no degrees of freedom associated
to this joint. 
roll/CRV joint 
A rolling type joint between two products that include
curves. There is no sliding motion with this type of joint. Number of
degrees of freedom is 2 (1 rotation and 1
translation) for a 3D mechanism and 1 (translation) for a 2D mechanism. 
S

screw joint 
A screw/nut type joint between two products relative
to an axis. Number of degrees of freedom
is 1 (combined translation and rotation). 
slid/CRV joint 
A rolling type joint with a sliding motion between two
products that include curves. Number of
degrees of freedom is 3 (2 rotations and 1 translation) for a 3D
mechanism and 2 (1 rotation and 1 translation) for a 2D mechanism. 
spherical joint 
A spherical joint between two products. Number of
degrees of freedom is 3 (3 rotations) for a 3D
mechanism and 1 (rotation) for a 2D mechanism. This joint was called PT/PT
in Version 4. 
storyboard 
A recorded kinematics motion. 

U joint 
A universal joint between two products. Number of
degrees of freedom is 2 (2 rotations). 