Constraint elements

The constraint elements and joints are listed in the following table.

Lower Pairs Cylindrical joint Prismatic joint Planar joint
Lower Pairs Revolute joint Screw joint Spherical joint
Common joints Constant velocity joint Prescribed displacement Universal joint
Relative motion Relative displacement Relative rotation
Constraint Elements Linear constraint Rigid body connection Wheel
Sliding Joints Curve sliding joint Curve sliding joint motion Sliding joint
Contact Joints Planar contact joint Spatial clearance element Spatial contact joint

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