| Summary: | Manipulators are multi-part constructions whose members are connected by joints. The
most common kinematic structure is the series structure. The effector at the end of the structure is
a process head or a gripper. The most commonly used kinematic structure is a series structure, and the
effector at the end of it is a technological head or a gripper. The area of application of manipulators is
very wide and it de-termines the type of tools used, the kinematic structure, the drive system, and the
base platform ‒ sta-tionary or mobile one. As industrial, medical, and research robots there are used
the manipulators built on a stationary platform. A construction of this type requires a high degree of
repeatability and preci-sion in the movements performed. A multi-part structure with a large number
of degrees of freedom provides the manipulators with a large working capacity, but at the same time
makes it difficult to use them effectively for manual operation. This is why they are most commonly
used for robots in which some or all movements are controlled automatically. Manipulators, mounted
on mobile platforms, are a special group, called in short mobile robots. They are most often used for
special tasks, such as military and rescue operations, as well as for the exploration of hard-to-reach
research areas. Manipulators used there must be able to carry heavy loads, have a wide range of
workspace and the ability to generate large lifting forces. Their use for dangerous activities protects
people from the risk of loss of their life or health, and thus it increases the efficiency of the work. In
recent years, there has been observed an intensive development in constructions of this type.
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