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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 ...
Line representations in robotics are used for the following: . They model joint axes: a revolute joint makes any connected rigid body rotate about the line of its axis; a prismatic joint makes the connected rigid body translate along its axis line.
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.
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 cylindrical joint requires that a line in the moving body remain co-linear with a line in the fixed body. It combines a revolute joint and a sliding joint. This joint has two degrees of freedom. A spherical joint, or ball joint, requires that a point in the moving body maintain contact with a point in the fixed body.
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An articulated robot uses all the three revolute joints to access its work space. Usually the joints are arranged in a “chain”, so that one joint supports another further in the chain. Continuous Path: A control scheme whereby the inputs or commands specify every point along a desired path of motion. The path is controlled by the ...