In steel and aluminum structures, we usually use bolting or welding to connect structural members to each other. If the member is connected such that it can rotate under the applied loads (without movements), the connection is considered as a “pin” or “simple” or "shear" connection. If the member is also restrained against rotation, it is called a “moment” or “rigid” connection.
In typical steel building construction, a pin connection is achieved by connecting the web of the beam to the column. This allows the parts of the beam which undergo the largest rotation (flanges) to remain free.
Simple (Shear) Connection in Typical Steel Structures
In spatial structures, when the member ends are tapered and screwed into the connector, they are considered to be pin-connected structures:
Simple Connection in Spatial Structures
When the flanges are also restrained (through bolting or welding) we have a moment connection.
Moment (Rigid) Connections in Typical Steel Structures
In spatial structures, rigid connections can be achieved by welding the members to the connector: