Joint Information

These settings are displayed when a joint is selected.

Part Attribute Settings

Matrix Tab

This tab displays the transformation matrix.

Entering a new value in one of the text boxes will change the transformation. Each value is viewed from the target coordinate system. We sometimes say, "when viewed from the local coordinate system." The initial transformation matrix is sometimes called the unit matrix. In the case of a joint, the values may have different meanings.

Scale

In the figure above, "a," "e," and "i" indicate the scale ratios of the X, Y, and Z coordinate axis directions, respectively.

Shear

In the figure above, "b," "c," "d," "f," "g," and "h" indicate the shear ratios.

• On the XY plane, "b" and "d" indicate shear ratios for "a" in the Y and X axis directions.
• On the YZ plane, "f" and "h" indicate shear ratios for "e" in the Z and Y axis directions.
• On the XZ plane, "c" and "g" indicate shear ratios for "i" in the Z and X axis directions.

Rotate

If there are points (1, 0, 0), (0, 1, 0), and (0, 0, 1) on the X, Y, and Z coordinate axes, respectively, as a result of rotation, they move to (a, b, c), (d, e, f), and (g, h, i), respectively.

• As a result of θ rotations in the X axis direction, points (1, 0, 0), (0, 1, 0), and (0, 0, 1) move as follows:
  (1, 0, 0) → (1, 0, 0)
  (0, 1, 0) → (0, cos θ, sin θ)
  (0, 0, 1) → (0, -sin θ, cos θ)
  
• As a result of θ rotations in the Y axis direction, points (1, 0, 0), (0, 1, 0), and (0, 0, 1) move as follows:
  (1, 0, 0) → (cos θ, 0, -sin θ)
  (0, 1, 0) → (0, 1, 0)
  (0, 0, 1) → (sin θ, 0, cos θ)
  
• As a result of θ rotations in the Z axis direction, points (1, 0, 0), (0, 1, 0), and (0, 0, 1) move as follows:
  (1, 0, 0) → (cos θ, sin θ, 0)
  (0, 1, 0) → (-sin θ, cos θ, 0)
  (0, 0, 1) → (0, 0, 1)
  

Translate

In the figure above, "tx," "ty," and "tz" indicate the translation distance along the X, Y, and Z coordinate axes, respectively. The units are mm.

Transformation Tab

This tab displays text boxes for transformation.

Enter a new value to enable the transformation. In the case of parts, the transformation is applied to all child objects. Child objects transformed in this way will not be restored to their original form if they are removed from the part.

Joint Attribute Settings

The joint attribute settings vary according to the type of joint selected.