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Most robotic arms use the following joint types:
- Prismatic or slider joints in which the
link is supported on a linear slider bearing, and linearly actuated
by ball screws and motors or cylinders.
- Revolute or rotary joints often driven
by electric motors and chain/belt/gear transmissions, or by
hydraulic cylinders and levers.
- Spherical joints, these are the third most
utilized joint and just slide causing a revolving movement.
- Screw joints, these just follow the thread
of the axis in spiral to move along the axis.
- Cylindrical joints, these are very rare
and are use in some equipment like Parallel Robots or Flying
simulator Mechanism.
With the combination of these joins, various robotic arms configuration
are formed.
The complete body of the robotic arms usually is attached to
some form of structural frames, for examples, machine table top
or factory floor. These structural frames in many cases are not
movable.
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