A singleshiyam chain of links and joints connects a moving object to a base of [[serial manipulator]]s. Multiple chains (limbs) connect the moving object to the base of [[parallel manipulator]]s.<ref>Z. Pandilov, V. Dukovski, Comparison of the characteristics between serial and parallel robots, Acta Technica Corviniensis-Bulletin of Engineering, Volume 7, Issue 1, Pages 143-160</ref> Most Cartesian coordinate robots are fully serial or a combination of serial and parallel connected linkages. However, there are some Cartesian coordinate robots that are [[Cartesian parallel manipulators|fully parallel-connected]].<ref>{{Cite journal|last1=Gosselin|first1=Clement M.|last2=Masouleh|first2=Mehdi Tale|last3=Duchaine|first3=Vincent|last4=Richard|first4=Pierre-Luc|last5=Foucault|first5=Simon|last6=Kong|first6=Xianwen|date=2007|title=Parallel Mechanisms of the Multipteron Family: Kinematic Architectures and Benchmarking|url=http://dx.doi.org/10.1109/robot.2007.363045|journal=Proceedings 2007 IEEE International Conference on Robotics and Automation|pages=555–560|publisher=IEEE|doi=10.1109/robot.2007.363045|isbn=978-1-4244-0602-9|s2cid=5755981}}</ref><ref>{{Cite journal|last=Gogu|first=Grigore|date=2004|title=Structural synthesis of fully-isotropic translational parallel robots via theory of linear transformations|url=http://dx.doi.org/10.1016/j.euromechsol.2004.08.006|journal=European Journal of Mechanics - A/Solids|volume=23|issue=6|pages=1021–1039|doi=10.1016/j.euromechsol.2004.08.006|bibcode=2004EJMS...23.1021G|issn=0997-7538}}</ref><ref>{{Cite journal|last=Wiktor|first=Peter|date=2020|title=Coupled Cartesian Manipulators|journal=Mechanism and Machine Theory|volume=161|pages=103903|doi=10.1016/j.mechmachtheory.2020.103903|issn=0094-114X|doi-access=free}}</ref>
