Joint mechanics is the study of the physical behaviour of robotic and mechanical joints, including the forces, torques, friction, compliance and backlash that govern their motion. It models how power is transmitted through bearings, gears and linkages and how non-ideal effects degrade precision. Understanding joint mechanics is essential for accurate dynamic modelling and high-fidelity motion control.
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- Accurate joint models account for gear-train stiffness, damping, hysteresis and play between meshing components. These effects introduce position error, vibration and energy loss; controller design, gear selection and stiffness budgeting all depend on a quantitative grasp of joint mechanics.