CATIA V5 Kinematics Joints Overview

5/27/2018 CATIA V5 Kinematics Joints Overview

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Joints Overview

Overview: Jointsdetermine the allowable motion(s) between two or moreparts. Specific elements (lines, planes, points, etc.) from each part arerequired, dependent on the joint type, and their alignment determines the

motion of the joint (the Rigidjoint is an exception). Essentially, assembledparts are free to move in all directions until restrained by joints. In anassembly, the Mechanism requires proper joint relationships among all theparts in order for motion to be successfully simulated.

There are many different joints available in CATIA V5, discussed below.All Jointcommands are located in Insert | New Joint, or on the fly-out foundon the DMU Kinematicstoolbar under the Revolute Joint command(whichis the default). The toolbar access also offers an additional type (Axis-based Joint).

Remember that you can also 'tear off' the joints sub- menu for quick jointaccess. This table shows a list of all of them for reference.

Revolute

The Revolutejoint is a rotation joint. It eliminates five degrees of freedomand allows only one rotation. It is used when one part must rotate withrespect to another about a linear axis common to both parts. A good exampleis a bearing rotating on a shaft.

If required by the mechanism, a Revolutejoint can be controlled by anangle Command(discussed later).

Prismatic

The Prismaticjoint is a translation joint. It eliminates five degrees of freedomand allows only one translation. It is used when one part must slide in aspecific linear direction with respect to another. A good example is the way adrawer opens and closes within a kitchen cabinet.

If required by the mechanism, a Prismaticjoint can be controlled by alength Command(discussed later).

CylindricalThe Cylindricaljoint is a translation and/or rotation joint. It eliminates fourdegrees of freedom, and allows one translation and one rotation(independent of each other). It is used to rotate and/or translate one part withrespect to another, both motions relative to a common linear axis. A goodexample is the way a periscope can be raised and lowered, and also rotated.

If required by the mechanism, a Cylindricaljoint can be controlled by either a
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length Command, an angle Command, or both.

Screw

The Screwjoint is a translation and rotation joint, linked together with aspecified Pitchratio. It eliminates five degrees of freedom and allows either atranslation or a rotation (the chosen one driving the other). It is used whenone part needs to move linearly while being rotated with respect to anotherpart (e.g. a nut being tightened onto a bolt), or when moving a part linearlycauses it to rotate with respect to another (e.g. a child's toy where a plungeris pushed to make the toy spin).

If required by the mechanism, a Screwjoint can be controlled by either oneangle or one length Command; the other is automatically driven based on aspecific 'pitch' ratio.

Spherical

The Sphericaljoint is a rotation joint. It eliminates three degrees of freedom(no translation allowed) and allows three rotations. It is used when one partneeds to be free to rotate in any direction with respect to another part, withboth connected at a single point. A good example is a ball and socketcondition.

None of the free rotations of a Sphericaljoint can be controlledby Commands; the parts involved must also be restrained with other parts inthe assembly mechanism using other joints. The Sphericaljoint is only usedin the overall scheme of a mechanism where two of the parts must simply

remain connected at a single common point but be free to rotate at that point.

Planar

The Planarjoint is a translation and rotation joint. It eliminates two rotationsand one translation, and allows two translations and one rotation. It is usedwhen a planar feature of one part needs to translate freely while maintainingcontact on a planar feature of another part; the first can still rotate in onedirection while maintaining contact. An example is a rotary sander beingoperated on a flat panel.

None of the free motions of a Planarjoint can be controlled by Commands;

the parts involved must also be restrained with other parts in the assemblymechanism using other joints. The Planarjoint is only used in the overallscheme of a mechanism where two of the parts must simply remain incontact along a common planar location but be free to move in otherdirections.

Rigid
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The Rigidjoint fixes two objects together. It eliminates all degrees of freedombetween two parts. It is used when two separate parts in an assembly cannotmove with respect to each other (i.e. they act as one part in the mechanism).

Since there are no motions to control in a Rigidjoint, no Commandsare

defined.

Point Curve

Point Curvejoint is a translation and rotation joint. It eliminates twotranslations, and allows three rotations and one translation (along a specifiedcurve). It is used when a point on one part needs to follow a curve on anotherpart.

The free translation (along the curve) can be controlled using alength Command. However, none of the free rotations of a Point Curvejointcan be controlled byCommands; the parts involved must also have joints

with other parts in the assembly to eliminate these degrees of freedom.The Point Curvejoint can only be used in the overall scheme of amechanism with multiple joints.

Slide Curve

The Slide Curvejoint is a translation and rotation joint. It eliminates threedegrees of freedom and allows two degrees of rotation and one degree oftranslation (along a specified curve). It is to slide a curved object alonganother curved object, maintaining tangency among common curves. A goodexample is a spherical probe sliding along a curved surface, maintaining

contact not at a single point but between a cross- sectional curve on theprobe and a curve on the surface.

None of the free motions of the Slide Curvejoint can be controlledby Commands; the parts involved must also be restrained with other parts inthe assembly mechanism using other joints. The Slide Curvejoint can onlybe used in the overall scheme of a mechanism with multiple joints.

Roll Curve

The Roll Curvejoint is a translation and rotation joint. It eliminates fourdegrees of freedom and allows one rotation (as a part 'rolls') and one

translation (a distance along a curve). It is used when one part needs tomove along another, maintaining contact without sliding (in other words, onerolls along the other). A good example is in a roller bearing where the innerbearing will spin while the outer bearing rotates about its center axis.

If required by the mechanism, a Roll Curvejoint can be controlled with alength Command.
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Point Surface

The Point Surfacejoint is a translation and rotation joint. It eliminates onetranslational degree of freedom and allows three rotations and twotranslations (a point moving along a surface). It is used when a single pointon an object needs to freely move along a surface while maintaining contact.

A good example is a probe with a single point moving along a surface.

None of the free motions of a Point Surfacejoint can be controlledby Commands; the parts involved must also be restrained with other parts inthe assembly mechanism using other joints. The Point Surfacejoint is onlyused in the overall scheme of a mechanism where a point and a surface mustmaintain contact.

Universal

The Universaljoint is a rotation joint. It eliminates five degrees of freedom

and allows one rotation. This joint is used to transfer the rotation of onecylindrical object to another where the axes of both are positioned at an angleto each other (the axes must be coplanar). It simulates the motion of anactual 'U joint' where one shaft spins another, with the second shaft spinningat a non- constant rate.

The rotation of a Universaljoint cannot be controlled by a Command; theparts involved must also be restrained with other parts in the assemblymechanism using other joints. The Universaljoint is only used in the overallscheme of a mechanism where a transfer of rotation is included.

Constant Velocity (CV)The CVjoint is neither a translation nor a rotation joint. It only allows thetransfer of a rotation of one part to that of another, where the axis of rotationof each part is parallel. The transferred rotation is constant and maintains thesame rate as the driving rotation. The CVjoint accomplishes this by includinga third cylindrical object between the first and last (all three axes must becoplanar). Essentially, a CVjoint produces the same result astwo Universaljoints.

The rotation of a CVjoint cannot be controlled by a Command; the partsinvolved must also be restrained with other parts in the assembly mechanism

using other joints. TheCVjoint is only used in the overall scheme of amechanism where a constant transfer of rotation is included.

Gear

The Gearjoint is a rotation joint only. It actually consists oftwo Revolutejoints which are considered sub-joints of the Gearjoint, andwhich are linked with a Ratio. This joint is used where the rotation of one gear
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spins another based on that ratio.

If required by the mechanism, a Gearjoint can be controlled by anangle Commanddriving one of the sub- joints.

RackThe Rackjoint is a rotation and translation joint. It consists of botha Prismaticand a Revolutejoint, considered sub-joints of the Rackjoint,and which are linked with a Ratio. This joint is used to either cause a part torotate by translating another, or to translate a part by rotating another. Anexample is a feeder-type mechanism which moves items linearly with a seriesof rollers.

If required by the mechanism, a Rackjoint can be controlled by either alength or angle Command.

Cable

The Cablejoint is a translation joint. It consists of two prismatic joints,considered sub- joints of the Cablejoint, which are linked with a Ratio. This

joint is used when a translational motion of one part causes a translationalmotion of another, either at the same rate or based on a ratio. An example isin a hydraulic mechanism where moving a piston in one cylinder causes apiston in another cylinder to move a different distance, depending on thevolume.

If required by the mechanism, a Cablejoint can be controlled by one of the

two length Commands.

Axis-based

The Axis-basedjoint is a unique joint, because it can create revolute,cylindrical, spherical, or universal joints. It has the same options of commandand/ratio association based on which type of joint is created. The difference isit uses user-defined axis systems created in the parts for definition. The majoradvantage to using this method for joint creation is the ability to move theobjects around. In addition, the joints are not affected because axis systemfeatures used for definition are infinite in size.

Simulation and Fixed Components

There is a process we must all follow in order to successfully simulate anyjoint we create. It will most likely involve at least one component being fixed,which cannot be completed with the joint commands just discussed. It is aseparate command altogether called Fixed Part. Just like inthe Assembly Designworkbench, its icon is an anchor. There are a fewdifferent ways to simulate a mechanism and we will discuss these as the
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course progresses.

Frequently Asked Questions

1. Are joints the only items required for part simulation?A: No, you need to define a mechanism and a fixed part in orderto generate a simulation.

Documents

CATIA V5 Kinematics Joints Overview