Which type of joint rotates around an axis or center point when attached to a gripper?

• A. Cylindrical joint
• B. Revolute joint
• C. Prismatic joint
• D. Spherical joint

Answer: (D)

Rotational orientation about a central point is provided by a joint that acts like a ball-and-socket: the end effector (the gripper) can rotate about multiple axes all centered at the same point. A spherical joint lets the gripper yaw, pitch, and roll around that center, giving full orientation control in any direction.

In contrast, a revolute joint would rotate around a single fixed axis, a cylindrical joint combines rotation about an axis with sliding along that same axis, and a prismatic joint provides only linear translation. Because the description emphasizes rotation around an axis or center point with freedom in multiple directions, the spherical joint is the best fit.