Joint primitives (Jprims) constrain one, two, or three degrees of translational and/or rotational freedom. Jprims do not usually have a physical analogue and are predominately useful in enforcing standard geometric constraints.
Jprims can be combined to define a complex constraint. In fact, they can be used to create any of the recognizable joints (except the screw joint).
The following table shows the joint primitives (Jprims) supported by COSMOSMotion with the translational and rotational degrees of freedom that they constrain.
|
Joint |
Translational DOF: |
Rotational |
Total DOF |
|
2 |
0 |
2 | |
|
1 |
0 |
1 | |
|
0 |
3 |
3 | |
|
0 |
2 |
2 | |
|
0 |
1 |
1 |