The constraint elements and joints are listed in the following table.
| Lower Pairs | Cylindrical joint | Prismatic joint | Planar joint |
| Lower Pairs | Revolute joint | Screw joint | Spherical joint |
| Common joints | Constant velocity joint | Prescribed displacement | Universal joint |
| Relative motion | Relative displacement | Relative rotation | |
| Constraint Elements | Linear constraint | Rigid body connection | Wheel |
| Sliding Joints | Curve sliding joint | Curve sliding joint motion | Sliding joint |
| Contact Joints | Planar contact joint | Spatial clearance element | Spatial contact joint |