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The moving platform is typically attached to the linear actuators through three geometrically parallel revolute R joints. See Kinematic pair for a description of shorthand joint notation used to describe manipulator configurations, like revolute R joint for example.
The most familiar joints for linkage systems are the revolute, or hinged, joint denoted by an R, and the prismatic, or sliding, joint denoted by a P. Most other joints used for spatial linkages are modeled as combinations of revolute and prismatic joints. For example,
A revolute joint (also called pin joint or hinge joint) is a one-degree-of-freedom kinematic pair used frequently in mechanisms and machines. [1] The joint constrains the motion of two bodies to pure rotation along a common axis. The joint does not allow translation, or sliding linear motion, a constraint not shown in the diagram. Almost all ...
A knuckle joint on a locomotive, seen behind the pin joint of the eccentric crank. Ball-point pen included for size. A mechanical joint is a section of a machine which is used to connect one or more mechanical parts to another. Mechanical joints may be temporary or permanent; most types are designed to be disassembled.
These mechanisms can be linked by connecting the ends of the pairs together with two more revolute joints. Due to the mechanism's design, however, the revolute joints act as if they are prismatic-revolute joints because they move along a straight axis as the system changes shape. By pushing or pulling on any of the joints, the entire system ...
A screw joint or helical H joint requires cut threads in two links, so that there is a turning as well as sliding motion between them. This joint has one degree of freedom. A cylindrical C joint requires that a line in the moving body remain co-linear with a line in the fixed body. It is a combination of a revolute joint and a sliding joint.