# Articulations

> Configure complex systems of rigid bodies and joints.

A physics articulation is a set of [Articulation Bodies](/engine/6000.0/manual/physics-section/physics-overview/articulations-section/physics-articulations.md) organized in a logical tree, in which each parent-child relationship reflects mutually constrained relative motion.

The main purpose of physics articulations is to provide a realistic physics behavior for industrial and commercial non-gaming applications that involve joints. For example, they make it a lot easier than the regular Joints to simulate robotic arms and kinematic chains.

You can configure articulations via the [`ArticulationBody`](/engine/6000.0/script-reference/unityengine/articulationbody.md) class, or the corresponding [Articulation Body](/engine/6000.0/manual/physics-section/physics-overview/articulations-section/class-articulation-body.md) component.

| **Topic**                                                                                                                                        | **Description**                                                    |
| ------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------ |
| [Introduction to physics articulations](/engine/6000.0/manual/physics-section/physics-overview/articulations-section/physics-articulations.md)   | Overview of the concepts and behaviours of articulations in Unity. |
| [Articulation Body component reference](/engine/6000.0/manual/physics-section/physics-overview/articulations-section/class-articulation-body.md) | Reference for the Articulation Body component.                     |