Module 7 : CNC Programming and Industrial Robotics

Lecture 5 : Industrial robotics-1

Nearly all industrial robots have mechanical joints that can be classified into following five types as shown in Figure 7.5.2.

Fig. 7.5.2 Types of Joints

a) Linear joint (type L joint)

The relative movement between the input link and the output link is a translational sliding motion, with the axes of the two links being parallel.

b) Orthogonal joint (type U joint)

This is also a translational sliding motion, but the input and output links are perpendicular to each other during the move.

c) Rotational joint (type R joint)

This type provides rotational relative motion, with the axis of rotation perpendicular to the axes of the input and output links.

d) Twisting joint (type T joint)

This joint also involves rotary motion, but the axis or rotation is parallel to the axes of the two links.

e)  Revolving joint (type V-joint, V from the āvā in revolving)

In this type, axis of input link is parallel to the axis of rotation of the joint. However the axis of the output link is perpendicular to the axis of rotation.