Robotic Kinematics overview Basic Concepts (contd Typical lower Kinematic Pairs Revolute(r-1 dof (rotation) Prismatic(P)-1 Dof (Translation) Cylindrical(C)-2 Dof(Rotation Translation) Helical (h) 1 Dof (Coupled rotation/Translation) Planar(e) 2 Dof (Translation in 2 directions Spherical()-3 Dof (Rotation in 3 directions)Robotic Kinematics Overview Basic Concepts (cont'd) • Typical Lower Kinematic Pairs Revolute (R) - 1 Dof (Rotation) Prismatic (P) - 1 Dof (Translation) Cylindrical (C) - 2 Dof (Rotation + Translation) Helical (H) - 1 Dof (Coupled Rotation/Translation) Planar (E) - 2 Dof (Translation in 2 directions) Spherical (S) - 3 Dof (Rotation in 3 directions)