It can be precisely defined by the orientation of all joints in a structure. The STEP standard is very big and is published as a series of documents called Parts . The revolute pair constrains the motion between two adjacent links to a rotation about a common axis. To measure the angle of rotation a frame is defined on each of the links such that local origins and the z-axes coincide and their positive directions agree. A schema is a collection of semantically meaningful data types which defines a domain e.g. kinematics.
Step provides a representation of product information enabling product data exchange.