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Line 11: === Joint topology === A single 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~~book\|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~~title=Proceedings 2007 IEEE International Conference on Robotics and Automation \|~~title~~chapter=Parallel Mechanisms of the Multipteron Family: Kinematic Architectures and Benchmarking \|date=2007\|chapter-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> === Degrees of freedom ===

Cartesian coordinate robot: Difference between revisions