Anatomy

Anatomy is the identification and description of the structures of living things. It is a branch of biology and medicine.

Robot Anatomy

Robot anatomy deals with the study of different joints and links and other aspects of the manipulator's physical construction.

Anatomy of Robot consists of 4 parts:

Robot Joints & Links

Links: The members of a robotic manipulator are called links.

Joints: By which the links are connected together are called joints.

Classification of Joints

Depending on the relative motion between the links, joints are mainly classified into 5 types:

1. Linear joint or L-joint

2. Orthogonal joint or O-joint

3. Rotational joint or R-joint

4. Twist joint or T-joint

5. Revolving joint or V-joint

Reference(s):

[1] Video Lecture on Robot Anatomy, Links and joints

[2] V-REP Beginners Tutorial: Modeling, Joints, GUI