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A. General Joint
(1) Fixed Joint
A fixed joint constrains two bodies to locations defined by the user. The fixed joint icon looks like a bolt. A fixed joint secures the relative positions of two bodies and completely restricts their movement with no degree of freedom.
Fixed Joint
(2) Revolute Joint
A revolute joint fixes two bodies to one point, allowing rotational movement of the bodies about a rotational axis. The constraint equations include a three-dimensional positional equation, which states that two bodies are fixed to one point in a space, and a parallel equation, which states that the vectors of two bodies are parallel to each other. Therefore, a revolute joint constrains a total of five degrees of freedom regarding the positions and rotations of two bodies. This means there is only one degree of freedom between the two bodies. You can also constrain the motion of two bodies by expressing the degrees of freedom of the revolute joint regarding a rotational axis as a function of time.
Revolute Joint
(3) Translational Joint
A translational joint allows translational movement of two bodies in the direction of a vector defined between the bodies. A translational joint constrains rotational motion in all directions and only allows translational motion in the direction of a specified vector. This means it has only one degree of freedom and constrains the other five degrees of freedom. You can also constrain the motion of two bodies by expressing the translational degree of freedom as a function of time.
Translational Joint
(4) Planar Joint
A planar joint only allows the sliding of a body on a plane and its rotational motion about an axis perpendicular to the plane.
Universal Joint
