Glossary
Parallel robots

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....