Robot manipulators

Robot manipulators are created from a sequence of link and joint combinations. The links are the rigid members connecting the joints, or axes. The axes are the movable components of the robotic manipulator that cause relative motion between adjoining links. The mechanical joints used to construct robotic arm manipulator consist of five principal types. Two of the joints are linear, in which the relative motion between adjacent links is non-rotational, and three are rotary types, in which the relative motion involves rotation between links.

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