Chapter 3 Robot Mechanisms - MIT OpenCourseWare
of primitive joint is a revolute joint where a pair of links rotates about a fixed axis. This type of joint is often referred to as a hinge, articulated, or rotational joint.1 (a) Prismatic joint (b) Revolute joint Figure 3.1.1 Primitive joint types: (a) a prismatic joint and (b) a revolute joint
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