Robot joints PDF

by bade bhau

1. ROBOT JOINTS

2. Different types of robot joints:
TheRobotJointsistheimportantelementinarobotwhichhelpsthe
linkstotravelindifferentkindofmovements.Ajointinan
industrialrobotissimilartothatinahumanbody.Itprovideswitha
relativemotionbetweentwoparts.Mosthaveindustrialjointshave
mechanicaljointswhichcanbeclassifiedintofivetypes.
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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
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4. 1. Rotational Joint :
RotationaljointcanalsoberepresentedasR–Joint.Thistypewillallowthejointstomovein
arotarymotionalongtheaxis,whichisverticaltothearmaxesorperpendiculartotheaxes
oftheinputandoutputlinks.
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5. 2. Linear Joint :
LinearjointcanbeindicatedbytheletterL–Joint.Thistypeofjointscanperformboth
translationalandslidingmovements.Thesemotionswillbeattainedbyseveralwayssuchas
telescopingmechanismandpiston.Thetwolinksshouldbeinparallelaxesforachievingthe
linearmovement.
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6. 3. Twisting Joint :
TwistingjointwillbereferredasV–Joint.Thisjointmakestwistingmotionamongthe
outputandinputlink.Duringthisprocess,theoutputlinkaxiswillbeverticaltothe
rotationalaxis.Theoutputlinkrotatesinrelationtotheinputlink.
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7. 4. Orthogonal Joint :
TheO–jointisasymbolthatisdenotedfortheorthogonaljoint.Thisjointissomewhat
similartothelinearjointsoitprovidelinearmotion.However,theinputandoutputlinksare
perpendiculartoeachother.Theonlydifferenceisthattheoutputandinputlinkswillbe
movingattherightangles.
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Input

8. 5. Revolving Joint :
RevolvingjointisgenerallyknownasV–Joint.Thisjointalsoproviderotationalmotion.
Here,theoutputlinkaxisisperpendiculartotherotationalaxis,andtheinputlinkisparallelto
therotationalaxes.Asliketwistingjoint,theoutputlinkspinsabouttheinputlink.
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9. Thank You.
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