Thousands of tutorials to learn from
Planar joint cannot be simulated alone. It needs roll curve joint for simulation.
http://grabcad.com/questions/tutorial-dmu-kinematics-planar-joint-part1
http://grabcad.com/questions/tutorial-dmu-kinematics-planar-joint-part2-roll-curve-joint
I have a problem the mechanism does not work it has 3DOF and it's undefined