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