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I understood it on simpler assemblies and then I failed to do it on this robot, I tried 100+ times and it didnt work, the main problem is it at the end when i have one joint left and first it says i need to add some joints for the mechanism to work and then i put it on and it says that the mechanism is over constrained or this joint isnt needed.
Good - you understand how CATIA Kinematics works making a mechanism with 1 DOF and 1 input command to simulate the motion.
Your robot is a combination of several mechanisms (maybe 5?) each with an input command and each moving independently of the other mechanisms. Please see my image below
Do you agree with these motions? Did I miss any?
It seems you are adding Assembly Constraints to this product, and then converting the constraints into Kinematic Joints. Are you familiar with defining all the Joints yourself with the DMU Kinematics workbench?