To Impose Motions on Joints

After you define a standard joint, you can impose motions on each degree of freedom in the joint.

1. In the Dynamic Simulation browser, right-click the standard joint and select Properties.

2. On the Properties dialog box, click the DOF tab for the degree of freedom on which you want to impose motion.

   Note: There is a DOF tab for each degree of freedom in the joint. Each tab has a title consisting of "DOF," the number identifying that degree of freedom, and a T (for translational) or an R (for rotational) in parentheses.

3. On the DOF tab, click Edit imposed motion.

4. Click Enable imposed motion.

   Note: None of the other fields on this tab are available until you enable imposed motion.

5. Click Position to drive the joint degree of freedom by setting the position of the joint coordinate system .

6. Alternatively, click Velocity to drive the joint degree of freedom by setting the velocity of the joint coordinate system.

7. Alternatively, click Acceleration to drive the joint degree of freedom by setting the acceleration of the joint coordinate system.

8. Define the imposed motion in the motion text box.

   • Click to show the data definition menu.
   • Select Input grapher to enter a motion value that varies over time.
   • Alternatively, select Constant to enter a motion value that is constant over time.
   • If you select Input grapher, click the Input grapher icon inside the motion text entry box, and use the Input grapher dialog box to define motion values.
   • If you select Constant, enter the value in the motion box.

9. Click OK.

   The program applies the motion and closes the dialog box.