2. Different types of robot joints:
The Robot Joints is the important element in a robot which helps the
links to travel in different kind of movements. A joint in an
industrial robot is similar to that in a human body. It provides with a
relative motion between two parts. Most have industrial joints have
mechanical joints which can be classified into five types.
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3. They include two types that provide linear motion and three types
that provide rotary motion .These five types of joint areas follows :
1. Rotational joint
2. Linear joint
3. Twisting joint
4. Orthogonal joint
5. Revolving joint
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4. 1. Rotational Joint :
Rotational joint can also be represented as R – Joint. This type will allow the joints to move in
a rotary motion along the axis, which is vertical to the arm axes or perpendicular to the axes
of the input and output links.
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5. 2. Linear Joint :
Linear joint can be indicated by the letter L – Joint. This type of joints can perform both
translational and sliding movements. These motions will be attained by several ways such as
telescoping mechanism and piston. The two links should be in parallel axes for achieving the
linear movement.
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6. 3. Twisting Joint :
Twisting joint will be referred as V – Joint. This joint makes twisting motion among the
output and input link. During this process, the output link axis will be vertical to the
rotational axis. The output link rotates in relation to the input link.
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7. 4. Orthogonal Joint :
The O – joint is a symbol that is denoted for the orthogonal joint. This joint is somewhat
similar to the linear joint so it provide linear motion. However , the input and output links are
perpendicular to each other. The only difference is that the output and input links will be
moving at the right angles.
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Input
8. 5. Revolving Joint :
Revolving joint is generally known as V – Joint. This joint also provide rotational motion.
Here, the output link axis is perpendicular to the rotational axis, and the input link is parallel to
the rotational axes. As like twisting joint, the output link spins about the input link.
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