Joints allow bones to articulate and move. There are three main types of joints - fibrous, cartilaginous, and synovial. Fibrous joints have connective tissue and no synovial cavity, permitting little movement. Cartilaginous joints are united by cartilage with no synovial cavity. Synovial joints contain a synovial cavity allowing free movement. Synovial joints can be further classified by their shape and motion including hinge, ball-and-socket, and saddle joints. Range of motion at synovial joints is affected by factors like bone structure, ligament strength, muscle arrangement, and age.