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This is a revolute pair which constraints the motion between two adjacent
links to a rotation about a common axis.
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| This is a cylindrical pair which constrains the motion between two
adjacent links to a translation along a common axis and a rotation about it.
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| This is a prismatic pair which constraints the motion between two adjacent
links to a translation about a common axis.
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| This is a spherical pair which constraint the motion between two
adjacent links to the rotation about three independent axes that intersect
in a common point.
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| This is a universal pair which constrains the motion between two
adjacent links to two rotations about two intersecting axes.
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| This is a screw pair which constraints the motion between two adjacent
links to a rotation about, and translation along, a common axis, where
the translation is proportional to the rotation. The factor of
proportionality is given by pitch which defines the translational
displacement for one full rotation.
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