Robot Joints

Types of Joints

1 DOF

Revolute joint (\(R\)): Allows rotation about a single axis.
Prismatic joint (\(P\)): Allows translation along a single axis.
Helical joint (\(H\)): Allows simultaneous translation and rotation along a single axis.

2 DOF

Cylindrical joint (\(C\)): Allows independent rotation and translation along the same axis.
Universal joint (\(U\)): Consists of two revolute joints with intersecting axes, allowing rotation about two perpendicular axes.

3 DOF

Spherical joint (\(S\)): A ball-and-socket joint that allows rotation about three perpendicular axes.