Axes and joints
The movement of robots are driven by motorized axes.
The axes either achieve rotary or translatory motion. Accordingly there are R-axis and T-axis.
The drive and the axis control occur autonomously.
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R-Axis
The R-axis is an axis, which can only fulfill rotation and pivoting. "R" means rotation. Rotary axes are mechanically more resilient than translational axes. Revolute joints can move faster than translational axes. The production of the R-axis although is more complex than of the translational axis.
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 T-Axis
A T-axis is an axis, that can just achieve linear motion. "T" means translation. The prismatic joint can be guided precisely and is mechanically stiff. The motion velocity usually is smaller than the speed of a swivel-joint. The production of linear axes is technically simple. |
 Linked axis
By coupling more rigid joints or axes gear lever results, which create complex motions. The joint arrangement is often used to keep the effector vertical to the work surface. Due to the clearance between the additional joints, the accuracy is reduced. Often the movability is also limited due to the additional lever. |
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