Robot Joints

Orthogonal Joints

The orthogonal joints are also popularly referred to as

the type O-joints. They feature a relative movement
taken by the input link and output link. This kind of
motion involved in the Orthogonal joints is a
translational sliding motion. However unlike the linear
joints arrangement, with the Orthogonal joint, the
output link is perpendicular to the input link.
Twisting Joints

This type of joint features rotary motion that also

results in some degree of rotation when in use. The
movement in these joints is relative to the axis of
rotation that is perpendicular o the axes of the input
and output links. The twisting joints are also
referred to as type T joints.
Robot mechanisms can be described by their topology, which
describes how links and joints interconnect:

Serial: the links and joints form a single ordered chain, with the
child link of one joint being the parent of the next.

Branched: each link can have zero or more child links, but
cutting any joint would detach the system into two
disconnected mechanisms. Like a human body, in which
fingers are attached to the hand, toes are attached to the feet,
and arms, legs, and head are attached to the torso.

Parallel: The series of joints forms at least one closed loop.

I.e., there exist joints that, if cut, would not divide the system
into two disconnected halves.
• All industrial robots are basically just a
chain or collections of “joints.”

• Robot joints are mechanisms that create

motion in one or more of the robot’s axes.
Together, the robot’s joints create the
desired motions of a robot’s limbs.
There are 3 basic ways you can categorize robot
joints:

▪ By actuation type
▪ By kinematic design
▪ By joint function

Each of these offers a useful perspective as to

what makes a particular robot joint work.
Robot Joint by Actuation Type (3 Types)

The first way to categorize robot joints is by

their actuation type. An actuator refers to any
mechanical or electromechanical device that
creates motion. The actuator generates a
force using a particular type of energy.
1. Electric
An electric actuator converts electrical energy into motion with an
electric motor. This creates a torque that moves the robot joint.

Electric actuators are probably the most common actuator type in

robotics. They are fast, precise, and very portable. Although they
are not as powerful as the other 2 types of actuator, they offer a
good cost-to-strength ratio.

2. Pneumatic
A pneumatic actuator creates force through the application of
compressed air. As many manufacturing facilities already have
pneumatic lines installed, this can be a handy option and is often
used for robot tools.

Benefits of pneumatics include its fast speed and simplicity.

However, it offers limited power compared to hydraulics and
requires a lot more extra hardware (pumps and pipes) compared to
3. Hydraulic
A hydraulic actuator uses pressurized liquid to create
motion. They offer more strength than the alternatives,
which is why hydraulics are often used for heavy-duty
applications.

Hydraulic robots are often the strongest with a high

range of mobility. However, they are expensive, require
high maintenance, and can be very messy if the liquid
leaks.
Robot Joint Types by Kinematic Design

Another way to look at robot joints is to classify

them by how they move. This is determined by
their kinematic design. Each joint will have one or
more degrees of freedom which are arranged
differently depending on the joint type.
1. Linear
A linear or prismatic joint can move in a translational or sliding
movement along a single axis.

It is probably the simplest type of joint to imagine and is the

easiest to control. Actuating the joint makes it longer or
shorter.

2. Revolute
A revolute or rotational joint moves around a point about one
degree of freedom. You can think of a revolute joint as being
like the elbow joint in your arm — it can bend only in one
direction.

Most industrial robots comprise a series of revolute or

rotational joints. As a result, there are well-established control
strategies for revolute joints.
3. Spherical

A spherical joint can move in multiple

degrees of freedom around a single point.
You can think of a spherical joint as being
like the top shoulder joint of your arm — it
can move in multiple directions but around
the same point.

Spherical joint control can get quite

complex. Sometimes, it’s easier to describe
the spherical joint as being 3 revolute joints
with an axis that intersects at a common
point.
Robot Joint Types by Function

The last way to look at robot joints is often

the most useful for industrial robotics.
Here, we look at the robot joint by its
function or role in an industrial
manipulator.
The 3 functions of an industrial manipulator joint are:

1. Shoulder Joint
The shoulder joint sits at the base of a robotic manipulator.

It is often the biggest joint and determines how much the robot
can turn around. It has the most significant effect on the size of
the robot’s workspace.

2. Elbow Joint
The elbow joint sits in the middle of the robotic manipulator.

It has the most impact on the robot’s lifting strength and sets a
large proportion of the robot’s range of motion. If the elbow joint is
restricted, the robot’s workspace will also be restricted.
3. Wrist Joint

The wrist joint sits at the end of the robotic

manipulator.

It has the most effect on the position of the robot’s

end effector. Often, wrist joints can spin a full 360
degrees. It is also subjected to more vibrations
caused by the environment than other joints.
There are three typical joint types, each describing the form of
relative transformations allowed between the two links to which it
is attached:

Revolute: the attached links rotate about a common axis.

Prismatic: the attached links translate about a common axis.

Spherical: the attached links rotate about a point.