

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 parameter that drives the mechanism. See degrees
of freedom. 
custom frame 
A frame of interest for custom user needs. 


degrees of freedom 
The number of possible independent rotation or translation movements of
a joint up to 360 degrees. 
design frame 
A frame of interest that is located on a part and and can be reused in
a joint creation dialog to create joints between parts. This feature
should be used to create joints between multiCAD parts. 
dressup 
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. 
frame of interest 
Coordinates that can be used to create the mechanism or later on
integrate the mechanism in a workcell. The frames of interest are of
four kinds: base, custom, design, and tool. 


gear joint 
A joint type 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 joints. 
joint stop 
An imposed limit applied to a joint. 
jog 
To simulate motion. 


kinematic 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). 
kinematic product 
A rigid product defined in a single geometric set that contains all the
elements required to describe the kinematics mechanism and its motion. 
kinematic 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 joint type between two products. Number of degrees of freedom is 3 (1
rotation and 2 translations). 
prismatic joint 
A translation joint between two products along an axis with no rotation
about that axis. Number of degrees of freedom is 1 (translation). 
product tree 
See specification tree. 
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. 


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). 
slide/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. 
specification tree 
The list appearing to the left of the window that provides the names of
all items in the geometric area. Selecting the + symbol expands the tree.
Selecting the  symbol collapses it. 
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. 


TCP 
The Tool Center Point or TCP is the location on a device that will
interact with another device or part. 
tool frame 
The frame of interest that defines the tool action point. 
tool tips 
The tool tips are the parts of the device that are supposed to be in
contact with the product for a given home position. The tool tips are
excluded from the clash analysis in tools like DPM BodyinWhite's weldgun
search. 


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