Movements pattern of axis

The different kinematics of industrial robots are always based on the following three axis respectively joints:

FigureName and symbolRemark
Prismatic or sliding joint P 2 - axisSymbol prsimatic axis - axisLinear joint (L)
- L-axis can be positioned precisely
- mechanical solid
- low agility
- if its movement is orthogonal, it can be defined as orthogonal (type O)
Prismatic or sliding joint P - axisSymbol prismatic axis2 - axis
pics is coming soonpic is coming soonRotational joint (type R)- fast moments are possible
- mechanical weak compared to L-axis
rotary joint - axisSymbol R axis - axisRevolving joint (type V)
R Axis - axisSymbol R axis2 - axisTwisting joint (type T)
Spherical or ball joint S - axisSpherical or ball joint (S)
for IR (still) not matter
Linked joints - axisLinked joints
No standard symbol exists.
- Precision can be reduced due to the tolerance of each joint
- Possibility to move is reduced by additional levers

Main- and hand-axis

... using the example of the universal robot

The axis 1,2 and 3 represent the main axis of the robot. By means of these axis it is possible for the robot to reach each point within the workspace.  The tool itself can be orientated by the axis 4,5 and 6 - also called auxiliary- or hand-axis.

The number of the axis stands for the order the axis are mounted.

Robot main and hand axi - axisrobot kinematic universal robot - axis
Axis of the 3R robot:
KUKA KR 5 sixx 650
Kinematics of this robots with symbols

Exercise:   Classify the following joints

Kinematics axis - axis