2.1 Basic Concepts of Mechanisms(7) iagram of Kinematic pairs(运动副简图) Prismatic joint Revolute joint Cylindric joint Spherical joint Helical joint Diagram Joint R joint Joint S ioint H ioint DOFDiagram of Kinematic pairs（运动副简图） Prismatic joint Revolute joint Cylindric joint Spherical joint Helical joint Type P joint R joint C joint S joint H joint DOF 1 1 2 3 1 Diagram 2.1Basic Concepts of Mechanisms(7)