Serial manipulators are the most common industrial robots and they are designed as a series of links connected by motor-actuated joints that extend from a base to an end-effector. Often they have an anthropomorphic arm structure described as having a "shoulder", an "elbow", and a "wrist".
Serial robots usually have six joints, because it requires at least six degrees of freedom to place a manipulated object in an arbitrary position and orientation in the workspace of the robot.
A popular application for serial robots in today's industry is the pick-and-place assembly robot, called a SCARA robot, which has four degrees of freedom.
A SCARA assembly robot.
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typical redundant manipulator has seven joints, for example three at the shoulder, one elbow joint and three at the wrist. This manipulator can move its elbow...
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object to a base of serialmanipulators. Multiple chains (limbs) connect the moving object to the base of parallel manipulators. Most Cartesian coordinate...
chains of parallel manipulators are called 'limbs' or 'legs'. Topology refers to the arrangement of links and joints forming a manipulator or robot. Joint...
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The links of the manipulator can be considered to form a kinematic chain. The terminus of the kinematic chain of the manipulator is called the end effector...
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joints 3(PRRR). Similar manipulators, with three parallelogram Pa limbs 3(PRPaR) are the Orthoglide and Parallel cube-manipulator. The Pantepteron is also...
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