[Springer handbook] 2. Kinematics - 2.3 Joint Kinematics

2.3.1 Lower Pair Joints

Revolute

Prismatic

Helical

Cylindrical

Spherical

Planar

2.3.2 Higher Pair Joints

Rolling Contact

2.3.3 Compound Joints

Universal

2.3.4 6-DOF Joint

2.3.5 Physical Realization

2.3.6 Holonomic and Nonholonomic Constraints

2.3.7 Generalized Coordinates