2. Technological elements

2.1 Manipulator kinematics (or architecture)

Series kinematics are the most widely used in handling. It consists of a series of articulated segments (rotation or translation). Macroscopically, it corresponds to the structure of a human or animal limb. An arm is sometimes referred to as an "articulated arm" if it has only rotary axes, and as a "telescopic arm" if it has at least one linear axis. Series kinematics are the simplest to operate. In the nuclear industry, it is the only one used, as it combines a large working volume with a reduced cross-section (high slenderness), which limits the number of machines to be installed and enables the manipulator to be inserted...