SIM-3 / Multi-link dynamics

3D Kinematic Tree Studio

Explore a pendulum and two- or three-link arms in an orbit view. Motion stays in the XY plane.

Local simulation · no hardware connection

3D Articulated Viewport Initializing Wasm...

Target Star 3D End-Effector Trail Drag or use arrow keys to orbit · Scroll or +/− to zoom

Simulation Time0.00 s

Tip Position (X, Y, Z)0.00, 0.00, 0.00

Tip Speed0.00 m/s

02 / Physics Diagnostics

Analytical State

Joint	Angle (q)	Velocity (v)	Target

Mass Matrix M(q)

End-Effector Jacobian J(q)

Model Digest: —

Planar simulation with no collisions or joint stops. Export saves the current state and model, not a replay or resumable checkpoint.