Joint of two links permitting rotational motion of one link relative to the other
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| T | R | |
| X | 0 | RX |
| Y | 0 | 0 |
| Z | 0 | 0 |
IS0 3951
Pair with:
one degree of freedom: Revolute pair / Turning pair, Prismatic pair, Screw pair / Helical pair.
two degrees of freedom: Cylindrical pair , Spherical pair with pin.
three degrees of freedom: Spherical pair.Planar contact pair.
four degrees of freedom: Ball-and-cylinder pair.Cylinder-and-plane pair
five degrees of freedom: Ball-and-plane pair.
zero degree of freedom Permanent connection of link component
Pair with one degree of freedom
| Revolute pair; Turning
pair Joint of two links permitting rotational motion of one link relative to the other |
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| Prismatic pair Joint of two links permitting rectilinear translation of one link relative to the other |
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| Screw pair; Helical
pair Joint of two links permitting Helical motion (with constant pitch)of one link relative to the other |
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Rx = Tx.2p /p p=pas |
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Pair with two degrees of freedom
| Cylindrical pair Joint of two links permitting rotational motion of one link relative to the other |
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| Spherical pair with pin Joint of two links permitting rotations about two intersecting axes |
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Pair with three degrees of freedom
| Spherical pair Joint of two links permitting spherical motion of one link relative to the other. |
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| Planar contact pair Joint of two links permitting general planar motion of one link relative to the other. |
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Pair with four degrees of freedom
| Ball-and-cylinder pair Joint of two links made up of a ball within a cylinder. |
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| Cylinder-and-plane pair Joint of two links made up of a cylinder and a plane. |
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Pair with five degrees of freedom
| Ball-and-plane pair Joint of two links made up of a ball and a plane. |
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Pair with zero degree of freedom
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Permanent connection of link component
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