Robot joints PDF
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There are five types of joints that are commonly used in industrial robots. Two allow for linear motion: linear joints and orthogonal joints. The other three allow for rotary motion: rotational joints, twisting joints, and revolving joints. Each joint type provides a specific kind of relative motion between two robot links, such as rotational motion along a vertical axis or linear sliding movement between parallel links.
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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 10-09-2015Mech Dept. 3
- 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. 10-09-2015Mech Dept. 4
- 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. 10-09-2015Mech Dept. 5
- 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. 10-09-2015Mech Dept. 6
- 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. 10-09-2015Mech Dept. 7 Input
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