Construction and Layout of Coordinated Multirobots System Based on Parallel Thought

Table 3

Common robots with 3 to 6 DOF.

Branched chain	Category	Robots
C^3T	serial	P1P2P3, R1R2R2
	parallel	Delta, 3-PRRR, 3-RPS
C^3T1R	serial	R1R2R2R3
	parallel	4-PU1U2
C^3T2R	serial	R1R2R2R3R4
	parallel	5-RPUR
C^3T3R	serial	Puma560 (6R)
	parallel	Stewart (6-UPS)