5. Glossary

Robot series

Robot with an open kinematic chain (anthropomorphic, Cartesian, SCARA robot, etc.).

ddl

Degree of freedom. Number of independent generalized coordinates required to fully define the configuration of a system at each instant (IFToMM definition).

Pick-and-place

The task of picking up, moving and depositing a product. This task generally requires 4 ddl, 3 translations and 1 rotation around a vertical axis.

Rotoid joint/bond

Rotoidal torque (noted R) also called pivot link.

Prismatic joint

Prismatic torque (noted P) also known as slide or drawer connection....