- JointUPS
Universal - prismatic - spherical joint aggregation (no constraints, no potential states)
- JointUSR
Universal - spherical - revolute joint aggregation (no constraints, no potential states)
- JointUSP
Universal - spherical - prismatic joint aggregation (no constraints, no potential states)
- JointSSR
Spherical - spherical - revolute joint aggregation with mass (no constraints, no potential states)
- JointSSP
Spherical - spherical - prismatic joint aggregation with mass (no constraints, no potential states)
- JointRRR
Planar revolute - revolute - revolute joint aggregation (no constraints, no potential states)
- JointRRP
Planar revolute - revolute - prismatic joint aggregation (no constraints, no potential states)