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Robot joints: The 6 different types explained

Author: Monica

Dec. 09, 2024

Understanding Robot Joints: An In-Depth Look at 6 Distinct Types

Defining Robot Joints

Robot joints serve the crucial role of facilitating movement within robotic systems by linking two rigid segments. The specific type of joint dictates the variety and scope of motion achievable.

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These joints empower robots to execute tasks with varying degrees of agility and skill. Some of the most sophisticated models can even function at levels beyond human capability.

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Rotary Joints: Pivoting Around an Axis

As indicated by their name, rotary joints facilitate twisting motions around a central axis. They are essential for enabling both mobility and manipulation in robotic applications.

A few examples of rotary joints include:

  • Single-axis rotation (Revolute Joints). The most prevalent form is the revolute joint, providing movement along a single axis. Robotic arms frequently utilize multiple revolute joints, allowing for elbow bending and lateral movements.
  • Multi-directional capabilities (Spherical Joints). Spherical joints allow rotation in various directions, featuring three perpendicular axes akin to a ball-and-socket structure like your shoulder. These joints are particularly beneficial for robotic hands that need to skillfully handle objects.
  • Combination of rotation and sliding (Cylindrical Joints). These joints permit both rotational movement and linear sliding along an axis. They are beneficial in contexts where mere rotation is insufficient, observing use in components such as robotic fingers or limbs. The integrated functionality of revolute and prismatic joints within cylinders promotes coordinated grasping and locomotion.

We will delve deeper into each of these robotic joint classifications shortly.

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Linear Joints: Enabling Straight-Line Movement

Linear joints are responsible for allowing robots to traverse in straight paths. These joints typically feature a movable component that glides along designated tracks or guides.

Common types include prismatic and slider joints:

  • Prismatic Joints. These facilitate movement in one direction only, similar to a drawer that only opens and closes along one axis. Industrial robots often employ prismatic joints to extend or retract arms, enhancing reach without enlarging the base.
  • Slider Joints. These allow two surfaces to glide over each other within a plane, commonly utilized in X-Y tables for two-dimensional movement. Robotic systems like 3D printers often leverage slider joints to control the positioning of the print head in the X and Y dimensions, enabling full access across the printing surface.

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Twisting Joints: Facilitating Rotation

Twisting joints, often recognized as revolute joints, enable rotation around a specific axis. They rank among the simplest yet profoundly functional robotic joint types.

Functionality of Twisting Joints

A twisting joint features two interconnected links maintained by a pivot pin, forming the rotation axis. While one of the links remains stationary, the other rotates around this pin. Many twisting joints can complete a full 360-degree rotation but often have built-in limitations for particular applications.

These joints are driven by an actuator, such as an electric motor, which supplies the necessary force for movement.

Practical Uses of Twisting Joints

Twisting joints find widespread application in robotics and automation.

They are typically utilized in robotic arms and hands, effectively addressing tasks that require:

  • Assembly: tasks like fastening components, accurately positioning elements, or any activity necessitating rotation.
  • Packaging: opening containers, twisting off caps, or rotating items for optimal placement within packaging.
  • Machining: tasks like rotating workpieces for cutting or milling, operating grinding tools, or polishing surfaces.

Real-World Examples of Twisting Joints

Here are a few practical examples of robots employing twisting joints:

  • Standard Bots' RO1 (Machine Tending): This collaborative robot showcases remarkable flexibility, employing twisting joints to deftly position both large and small components during machinery tending tasks.
  • ABB IRB (Automotive Assembly): This industrial unit features several twisting joints for precise bolt tightening on car frames, ensuring consistent quality on assembly lines.
  • Yaskawa Motoman GP8 (Food Processing): This robot, fitted with a specialized gripper, utilizes twisting joints to rapidly remove lids from jars before filling them on a fast-paced production track.

 

Understanding Actuators in Robotics

The term "robot" often conjures images of a sophisticated, artificially intelligent machine capable of executing numerous everyday tasks. By definition, a robot is an electromechanical system that can interact with its environment and perform autonomous actions to accomplish specific objectives.


This definition rules out devices like toasters and lamps, as they lack environmental perception. In contrast, devices like self-propelled vacuum cleaners and solar panels that track sunlight qualify as robotic systems.


A key component in any robotic assembly is the actuator. An actuator functions by converting energy into kinetic motion, with most actuators generating either rotary or linear movement.


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Among the various actuator types, the three most common are hydraulic, pneumatic, and electric actuators. Hydraulic actuators rely on compressed oil to generate motion, predominantly used in heavy machinery due to their ability to exert high force. Pneumatic actuators operate similarly but use compressed air instead. Electric actuators employ electric currents and magnetic fields.


An alternative to hydraulic and pneumatic options is the artificial muscle actuator, which functions by converting electrostatic pressure into linear force without requiring a piston. Instead, changes in pressure facilitate shape alterations, leading to linear force generation.


For individuals drawn to robotics, understanding actuators is paramount. An actuator is a mechanism that transforms energy into motion, primarily functioning in rotary or linear formats. The choice of actuators—hydraulic, pneumatic, or electric—hinges on the intended design of the robotic structure. For actuator applications across various sectors such as haptics, automotive, medical, consumer products, or industrial automation, consider HASEL actuators from Artimus Robotics due to their advanced characteristics like control flexibility, customizability, noiselessness, and rapid response.



A Brief Prelude to Artimus Robotics

Artimus Robotics specializes in designing and crafting soft electric actuators. Inspired by nature (specifically muscles) and developed at the University of Colorado, HASEL (Hydraulically Amplified Self-healing Electrostatic) actuator technology sees the application of electrostatic forces on flexible polymer structures filled with dielectric fluids, resulting in shape transformations. These principles can be leveraged to create contracting, expanding, or other complex movements. For more comprehensive information, please connect with us.

Contact us to discuss your requirements of robot joint actuator. Our experienced sales team can help you identify the options that best suit your needs.

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