Skip to content

Define Robot 3 Define Joints

Jump to bottom
Nishendra Singh edited this page Aug 19, 2026 · 3 revisions

Step 3 of 4 of the Define Robot wizard. Joints connect the links through pairs of faces. Make the base joint first. Then connect the links in sequence from the base to the tip.

Prepare the model tree

The model tree shows all the robot links. Give the links clear names if necessary. Hide the links that you do not work on. Then face selection is easy.

Press the Space key to show or hide the selected link.

Ground the base link

The first joint attaches the robot to the ground.

  1. Click a face on the base link in the 3D view.

    Base face selected

  2. Click Select Face 1 (1). Then open the joint-type list (2).

    Select Face 1 and joint-type list

  3. Select Fixed.

    Joint-type list, Fixed

  4. Make sure that the Base link box has a check mark. Then click Add Joint.

    Base link box and Add Joint

  5. The wizard makes the base link. The ground symbol shows in the 3D view.

    Ground symbol in the 3D view

  6. The base joint shows in the joint table.

    Base joint in the table

If the link or the face is not correct, click X in the table row to delete the joint.

Delete with X

The type of the base joint sets the robot kind:

Base joint type Robot kind
Fixed Robot on a fixed base
Slider Robot on a linear rail
Revolute Robot on a turntable

Connect two links

This example makes a revolute joint between the base link and link 2.

  1. Select the first face for the joint on the base link.

    First joint face

  2. Click Select Face 1 (1). Then select Revolute in the joint-type list (2).

    Select Face 1 and Revolute

  3. Hide the base link. Show link 2.

    Tree with link 2 shown

  4. Select the mating face on link 2.

    Mating face on link 2

  5. Click Select Face 2 (1). Then click Add Joint (2).

    Select Face 2 and Add Joint

  6. Show the two links again.

    Tree with the two links shown

  7. The two links are connected through the revolute joint.

    Connected links in the 3D view

  8. The new joint shows in the joint table.

    New joint in the table

Correct a joint

Sometimes a link attaches in the wrong direction. In this example, link 2 is inverted in the base link.

Inverted link

Click Flip in the joint row. The joint attaches again from the other side of the face.

Flip button

If the link or the face is wrong, click X to delete the joint. Then add the joint again.

Delete with X

Complete all joints

Do the same procedure for each joint. The model tree shows all the joints.

Joints in the model tree

When all the joints are complete, click Next.

Next to step 4

Tips

  • Clear faces removes the pending face selections.
  • If a warning about InertialCS shows: the automatic datum of a face can point in the wrong direction. Select a circular edge (Concentric) as an alternative.

Back: Step 2: Insert parts · Next: Step 4: Review and finish

Home

User guide

Developer

Clone this wiki locally