There are three main types of joints based on structure and movement: fibrous joints which are immovable, cartilaginous joints which allow slight movement, and synovial joints which allow freely movable and complex movement. Synovial joints have articular cartilage, a joint cavity, a joint capsule, synovial fluid, and various ligaments. They allow for a variety of movements including gliding, angular movements like flexion and extension, rotation, and special movements like pronation, dorsiflexion, and opposition.