The properties of grain boundaries depend on the geometrical parameters that determine the mutual rotation of the crystals, separated by the boundary, and the inclination of the boundary plane. We have proposed a grain boundary classification using the experimental results and the structures obtained by computer simulations. For the  rotations of cubic body centred crystals, q, and boundary plane inclination, F, our results are summarized in the diagram below. Certain atomic configurations lead to special boundary properties different from the general boundaries whereas low-angle boundaries are well described by dislocation walls.
Structure and properties of grain boundaries in metals