Cartesian robot is form by 3 prismatic joints, whose axes are coincident with the X, Y and Z planes. These robots move in three directions, in translation, at right angles to each other.
Cylindrical robot is able to rotate along his main axes forming a cylindrical shape. The robot arm is attached to the slide so that it can be moved radically with respect to the column.
Spherical robot is able to rotate in two different directions along his main axes and the third joint moves in translation forming a hemisphere or polar coordinate system. It used for a small number of vertical actions and is adequate for loading and unloading of a punch.
SCARA robot which stands for Selective Compliance Assembly Robot Arm it is built with 2 parallel rotary joints to provide compliance in a plane. The robots work in the XY-plane and have Z-movement and a rotation of the gripper for assembly.
Articulated robots are mechanic manipulator that looks like an arm with at least three rotary joints. They are used in welding and painting; gantry and conveyor systems move parts in factories.
Parallel robot is a complex mechanism which is constituted by two or more kinematics chains between, the base and the platform where the end-effectors are located. Good examples are the flying simulator and 4-D attractions at Univ. Studios.
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