Rigid-Body Mechanics & Robotics
Archive date pending confirmation. This public example was created for the portfolio in 2026.
Project Overview
Objective
Describe a two-link mechanism in MJCF and demonstrate how explicit joint and actuator definitions can support reproducible rigid-body experiments.
Role & Responsibilities
Independent portfolio study focused on geometry, documented inputs, and engineering review.
- Specify the rigid bodies, joint axes, masses, and actuator limits.
- Load the MJCF model with the installed MuJoCo Python package.
- Apply a bounded sinusoidal control sequence.
Engineering Features
- Mechanism
- Two revolute joints
- Display angle
- 42°
- Motion type
- Kinematic preview
Tools & Software
Outcome
Documented geometry, inputs, and technical workflow.
A documented portfolio demonstration. Manufactured or externally validated performance is not claimed.
3D Model
Drag to rotate. Use the viewer controls to inspect the assembly from another angle.
This is a geometric mechanism preview. Physical integration requires the separate MuJoCo example.
Drawings
Front, side, top, and isometric views of the portfolio geometry. Select the sheet to view it in detail.
| Parameter | Nominal study input |
|---|---|
| Mechanism | Two revolute joints |
| Display angle | 42° |
| Motion type | Kinematic preview |
Project Gallery
Rendered views of the CAD demonstration. These images show model geometry, rather than photographs of fabricated components.
Source & Engineering Notes
Model Assumptions
A simplified planar mechanism with two revolute joints and idealized link masses. Browser motion is a kinematic animation; actual rigid-body integration requires running the supplied MuJoCo example.
Design Workflow
- Specify the rigid bodies, joint axes, masses, and actuator limits.
- Load the MJCF model with the installed MuJoCo Python package.
- Apply a bounded sinusoidal control sequence.
- Log joint positions, velocities, and the applied control inputs.
- Inspect stability and sensitivity to time step before extending the experiment.
Engineering Checks
Check the MJCF model, mass and inertia assumptions, joint limits, and logged trajectories in a local MuJoCo run. No execution results are claimed in this portfolio.
Study Limitations
The browser model is a visual kinematic preview, not a MuJoCo simulation. It does not calculate physical torque, collision response, or energy conservation.