Mechanism Status and Redundancies

Provides model status information and guides you through the process of repairing redundant constraints .

Note: Joints created using the Automatically Convert Constraints to Standard Joints or Convert Assembly Constraints cannot be automatically modified by this command. You must edit those joints manually.

Access:

Ribbon: Dynamic Simulation tab Joint panel Mechanism Status

Model information

Degree of redundancy (r)	Displays the number of redundant constraints.
Initial	Displays the initial degrees of redundancies for the entire mechanism.
Final	Displays the final degrees of redundancies for the entire mechanism. This column is updated in real time.
Degree of mobility (dom)	Displays the number of degrees of mobility for the entire mechanism. When computing the degree of mobility, each kinematic chain is taken into account whether it is closed.
Initial	Displays the initial degrees of mobility for the entire mechanism.
Final	Displays the final degrees of mobility for the entire mechanism. This column is updated in real time.
Number of bodies	Displays the total number of bodies, including all grounded and mobile bodies.
Number of mobile bodies	Displays only the number of mobile bodies.

Closed kinematic chains

Displays the name and detailed information about each of the closed kinematic chains in this mechanism. This section of the dialog box is enabled when there are closed kinematic chains in the model and accessed via the More.

Note: In the Dynamic Simulation browser, over constrained chains are indicated by warning icons.

Chain name	Sets the name of the closed kinematic chain described in the following table. After the name, there is a slash (/) followed by the total number of closed kinematic chains in the mechanism. shows the name and information for the previous closed chain. shows the name and information for the next closed chain.
	Highlights components of the selected kinematic chain in the graphics window.
	Indicates a redundant joint. Click the icon to see a message that advises how to solve the redundancy.
Initial joints	Displays the initial joints in the selected closed kinematic chain. Degree of Redundancy and Degree of Mobility are computed as if the kinematic chain is independent of the rest of the mechanism. r shows the Degrees of Redundancy for the selected chain. dom shows the Degrees of Mobility for the selected chain. Joint name shows the names of the joints (including the names of the two joint components) as they appear in the Dynamic Simulation browser. The names of all joints in the selected chain appear in this column. Tip: If you have trouble seeing the complete name of the joint, move the cursor over the name. A tooltip shows the complete name. Click the joint name to highlight the joint in the browser and graphics window.
Redundant Constraints	Lists the redundant constraints associated with the initial joints. For joints identified as those causing the mechanism to become hyperstatic, the over-constrained directions are highlighted in orange. They are displayed in the coordinate system of the parent part. The following identify the type of constraint. T indicates a translational constraint. R indicates a rotational constraint. RIT indicates a rolling constraint . Tg indicates a tangency constraint .
Final joints	Displays the final joints in the selected closed kinematic chain. Degree of Redundancy and Degree of Mobility are computed as if the kinematic chain is independent of the rest of the mechanism. r shows the Degrees of Redundancy for the selected chain. dom shows the Degrees of Mobility for the selected chain. Joint name shows the type of each joint. The pull-down menu includes only joints in the same category: either standard or rolling/sliding joints. Click the arrow at the right of each Joint name field to show a list of the joint types that are most likely to solve the redundancy. You can select the type of joint you want to substitute for the initial joint on the same line.

The local and global r and dom of the chain update automatically. The Final joints column shows both local and global r and dom.

	Runs the simulation to test the newly selected joint. Click again to stop the simulation.
	Returns the types and configurations of the joints to their initial condition.