How many degrees of freedom do the following robots have? Assign 1 d.o.f. for the wrist joint.

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Question:

How many degrees of freedom do the following robots have? Assign 1 d.o.f. for the wrist joint. (a) A four leg parallel with a motor at the base of each leg and a free knee joint. Answer:

(b) A three-link wafer handler with a belt connecting Joint 2 and Joint 3. Answer: (c) A two inverted SCARA with a common joint wrist with no elbow motors. Answer: (d) A polar or spherical with a linear joint between joint 2 and the wrist joint.