State types of mechanical joints used in robots. Explain any one with sketch.

State types of mechanical joints used in robots. Explain any one with sketch.
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[1] Rotational joint [2] Linear joint [3] Twisting joint [4] Orthogonal & [5] Revolving joint

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.

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.

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.

Orthogonal Joint: The O – joint is a symbol that is denoted for the orthogonal joint. This joint is somewhat similar to the linear joint. The only difference is that the output and input links will be moving at the right angles.

Revolving Joint: Revolving joint is generally known as V – Joint. 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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