Robot joints & Degree of freedom

Md. Abu Sayeed Biswas

Lecturer
Dept. of Industrial & Production Engineering
Bangladesh University of Textiles
 ROBOT JOINTS

The Robot Joints is the important element in a robot which helps the links to travel in different
kind of movements. A joint in an industrial robot is similar to that in a human body. It provides
with a relative motion between two parts. Most have industrial joints have mechanical joints
which can be classified into five types
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
Different types of robot joints:
• 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 or perpendicular to the axes of the
input and output links.
• 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 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.
• The O – joint is a symbol that is denoted for the orthogonal joint. This joint is somewhat similar to
the linear joint so it provide linear motion. However , the input and output links are perpendicular
to each other. The only difference is that the output and input links will be moving at the right
angles.
• Revolving joint is generally known as V – Joint. This joint also provide rotational motion. Here, the
output link axis is perpendicular to the rotational axis, and the input link is parallel to the rotational
axis. As like twisting joint, the output link spins about the input link.
Different types of robot joints:
 Degrees of freedom

Six degrees of freedom (6DoF) refers to the freedom of movement of a rigid body in 

three-dimensional space. 
• Translation:
• Moving up and down on the Z-axis. (Heaving)
• Moving left and right on the Y-axis. (Swaying)
• Moving forward and backward on the X-axis. (Surging)
• Rotation
• Tilting forward and backward on the Y-axis. (Pitching)
• Turning left and right on the Z-axis. (Yawing)
• Tilting side to side on the X-axis. (Rolling)
Degrees of freedom
Degrees of freedom, in a mechanics context, are specific, defined modes in which a
mechanical device or system can move. The number of degrees of freedom is equal to the total
number of independent displacements or aspects of motion.