Chapter 6: Robot Design and Mechanics - "Types of Joints"
Abstract: There are several types of joints used in robotics, including hinged, prismatic, rotational, ball, cylindrical, orthogonal, and revolute joints. Hinged joints Also known as pivot joints, these joints only allow movement in one plane, similar to a door hinge. The human elbow and knee are examples of hinged joints. Prismatic joints These joints are also known as linear motion joints. There are two types of prismatic joints: single-stage and telescoping. Single-stage joints have a moving surface that slides along a fixed surface. Rotational joints These joints allow rotation around an axis, similar to the shoulder joint. Rotational movement is measured in degrees. Ball joints These joints allow multi-directional movement. Ball joints are often used in applications that require flexibility and articulation. They are commonly used in automotive steering systems. Cylindrical configuration This configuration provides two linear and one r...