2. Mechanical joints
A BASIC of mechanical joints that supportTranslational and
Rotational motion
Prismatic joint
Surging, Heaving, Swaying
Revolute joint
Yaw, Pitch, Roll
3. Mechanical joints
Prismatic joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
4. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
5. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
6. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
7. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
8. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
9. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
10. Mechanical joints
Revolute joint
A prismatic joint (also called sliders) is a one degree of freedom
kinematic pair used in mechanisms.
Prismatic joints provide single-axis sliding function used in places
such as hydraulic and pneumatic cylinders
11. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
3Translational Motion
Surging, Heaving, Swaying
3 Rotational Motion
Yaw, Pitch, Roll
Z
X
Y
Z
X
Y
12. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
?
?
13. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Surging
Yaw
14. Total Degrees of freedom
Is a total of degree freedom (6 possible / available) disposition from
3 translational and 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Surging
Yaw
Total DOF = 2
15. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
3Translational Motion
Surging, Heaving, Swaying
3 Rotational Motion
Yaw, Pitch, Roll
Z
X
Y
Z
X
Y
?
?
16. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Motor
rotation
17. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Revolute joint onY axis
18. Controllable Degrees of freedom
Is a degree freedom (6 potential / available) controllable disposition
Of 3 translational and /or 3 rotational motion on 3D space
Z
X
Y
Z
X
Y
Revolute joint onY axis
Controllable DOF = 1
