## Documentation |

Body | Rigid body with frames, inertia and geometry |

Ground | Fixed point attached to world |

Machine Environment | Mechanical simulation parameters of a machine |

Shared Environment | Utility that connects two independent machines in a single mechanical environment |

Bearing | Joint with three revolute and one prismatic joint primitives |

Bushing | Joint with three revolute and three prismatic joint primitives |

Custom Joint | Joint with custom combination of prismatic, revolute, and spherical joint primitives |

Cylindrical | Joint with one revolute and one prismatic joint primitives |

Gimbal | Joint with three revolute joint primitives |

In-Plane | Joint with two coplanar prismatic joint primitives |

Planar | Joint with one revolute and two prismatic joint primitives |

Prismatic | Primitive joint with one translational degree of freedom |

Revolute | Primitive joint with one rotational degree of freedom |

Screw | Joint with coupled rotational and translational degrees of freedom |

Six-DoF | Joint with three revolute and three prismatic joint primitives |

Spherical | Primitive joint with three rotational degrees of freedom |

Telescoping | Joint with three revolute and one prismatic joint primitives |

Universal | Joint with two revolute joint primitives |

Weld | Joint with zero degrees of freedom |

Disassembled Cylindrical | Joint with misaligned base and follower axes containing one revolute and one prismatic joint primitives |

Disassembled Prismatic | Primitive joint with misaligned base and follower axes containing one translational degree of freedom |

Disassembled Revolute | Primitive joint with misaligned base and follower axes containing one rotational degree of freedom |

Disassembled Spherical | Primitive joint with misaligned base and follower axes containing three rotational degrees of freedom |

Revolute-Revolute | Constant-length joint connector with two spatially separated revolute axes |

Revolute-Spherical | Constant-length joint connector with spatially separated revolute axis and spherical pivot point |

Spherical-Spherical | Constant-length joint connector with two spatially separated spherical pivot points |

Angle Driver | Driver specifying a time-dependent angle between two body axis vectors |

Distance Driver | Time-dependent distance between two body coordinate systems |

Gear Constraint | Constraint that restricts body motion to rotation along tangent circles |

Linear Driver | Time-dependent signal of a vector position component between two body coordinate systems |

Parallel Constraint | Constant parallel relationship between two body axis vectors |

Point-Curve Constraint | Constraint that restricts body motion to a specified path |

Velocity Driver | Linear and angular velocity components of base and follower body coordinate systems |

Body Actuator | Time-dependent force and torque used to actuate a body |

Body Sensor | Body translation and rotation sensor |

Constraint & Driver Sensor | Sensor used to measure the reaction force and torque between two constrained or driven bodies |

Driver Actuator | Time-dependent motion input for driver blocks |

Joint Actuator | Time-dependent force, torque, or motion input to a joint |

Joint Initial Condition Actuator | Initial joint position and velocity |

Joint Sensor | Joint force, torque, and motion sensor |

Joint Stiction Actuator | Joint static and kinetic friction |

Variable Mass & Inertia Actuator | Time-dependent mass and inertia parameters |

Body Spring & Damper | Damped linear oscillator force between two bodies |

Joint Spring & Damper | Damped linear oscillator force or torque acting on a joint |

Prismatic-Translational Interface | Connection interface between prismatic primitive and Simscape mechanical translational elements |

Revolute-Rotational Interface | Connection interface between revolute primitive and Simscape mechanical rotational elements |

Continuous Angle | Utility that converts a discontinuous bounded angle into a continuous unbounded angle |

Mechanical Branching Bar | Utility that maps multiple sensor and actuation signals into a single connection line |

RotationMatrix2VR | Utility that transforms 3x3 rotation matrix into rotation axis-angle 4-vector |

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