These joint types are all used extensively in machinery with great success. As long as the proper attention to engineering detail is paid, the design can be successful. Some common examples of all three joint types can be found in an automobile. The windshield wiper mechanism is a pure pin-jointed linkage. The pistons in the engine cylinders are true sliders and are bathed in engine oil. The valves in the engine are opened and closed by earn-follower (halt) joints which are drowned in engine oil. You probably change your engine oil fairly frequently. When was the last time you lubricated your windshield
wiper linkage? Has this linkage (not the motor) ever failed?