DMU kinematics question

[Emanuel4]

So basically, I'm doing this industrial robot for college, and I'm supposed to make a video of it. It's a palletizer, so some things are supposed to be parallel. My question is: how do I make them parallel even in simulation? I tried constraints but I don't really know how to properly define them, since I'm just a beginner at Catia. I'll put a picture so you could know what am I talking about.

Btw, I've put these parallel constraints just to make clear what is supposed to be parallel. I've connected parts with revolute joints, with 3 of them being angle driven.
Any help is appreciated, thanks.

EDIT: I edited the picture, since the first one was too small.

 

[MrCATIA]

Looks like the linkages in the robot's design will maintain the parallelism automatically. I see two 4-bar linkages that look like parallelograms. I don't think you have to add parallelism constraints.

I also see DOF=0 which is a good sign. What are the 3 driving rotations?

 

[MrCATIA]

Ananth at GrabCAD was able to help with the kinematics. https://grabcad.com/questions/dmu-kinematics-question

 

[DemoTokamakSharma]

That seems great. Do you know if there is a demo version of catia. I can download it and help you. I am really interested in this programming as I have learned revit, solidworks, and autocad. I also tried aspire and some cnc machining language. The ideas I have are all about getting massive projects built. It is a dream to get the next generation ITER plant designed. I hope to produce fusion. Let's work on your project and if you help me then I can help you. I hope this is good.

 

[Emanuel4]

I've managed to do this by using KINTime formula to synchronize movement of 2 parts. Thanks for your help guys.

Btw I don't think there's demo version of Catia. My college gave me student version of it and that's what I'm using.

 

[MrCATIA]

I've managed to do this by using KINTime formula to synchronize movement of 2 parts.

KINTime must be a new feature in CATIA - I'll have to look into it. The old way to coordinate multiple input commands was very awkward to use. Thanks!