Heim joints, AKA Spherical rod end bearings (pictured below) typically have a hard spherical ball in the center, ground flat on each side with a bore through the middle. Around that is typically a teflon or hard plastic sleeve which is either cast or machined to have a very tight fit to the hardened ball. Around the sleeve, is the outer casing, generally with a threaded stud integrated into it. The center ball and plastic sleeve is pressed in from one side, then locked in place with a [typically] swaged in ring. They are not adjustable, not rebuildable. Typically in automotive aftermarket applications, high misalignment washers are added on either side of the heim joint to allow greater misalignment of the joint. Basically these are sleeves that are machined to allow clearance around the outer case of the joint. These are a very user friendly parts. Which is important, because they wear out, and you have to replace them. You won't find these in automotive applications for steering or suspension components from the OEM's, because when they fail, things fall apart...literally. There is no safety with these as there is with ball joints or Tie Rod ends (which is why TRE's and ball joints are what the major MFR's use).
Cartridge joints are the same basic concept...only bigger. Instead of using high misalignment washers on the outside of a sphere that was ground flat (thus reducing the amount of surface area), a cartridge joint takes the sphere, adds 2 'ears', which accomplish the same thing as the misalignment washers on a heim joint, but with only 1 piece now instead of 3. The "ball" of the cartridge joint is typically 1.75 - 2.5" in diameter, compared to 1 - 1.5" for the heim joint. Just like the heim joint, the center ball and plastic sleeves are pressed in from one side, but cartridge joints typically use a threaded plate to hold it all in place. This plate can be adjusted to obtain the proper pre-load on the joint. Over time, if things start to wear, you can simply clean the joint out, re-assemble it and adjust the pre-load to remove any slop. Rebuild kits are available if you need them.
Basically, the heim joints are small in comparison to the cartridge joints. The smaller size equates to a smaller surface area to wear out (and they will wear out). When they do, you buy a new one. The Cartridge joints you simply adjust...but, they are very bulky compared to heims, and typically don't come with a threaded stud integrated into the outer case. These are usually welded to a piece of tube, or you have a threaded stud welded to them after you recieve them.