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The articulated manipulator is also called a revolute, elbow, or anthropomorphic manipulator. The KUKA 500 articulated arm is shown in Figure 1.11. In the anthropomorphic design the three links are designated as the body, upper arm, and forearm, respectively, as shown in Figure 1.11. The joint axes are designated as the waist (z₀), shoulder (z₁), and elbow (z₂). Typically, the joint axis z₂ is parallel to z₁ and both z₁ and z₂ are perpendicular to z₀. The workspace of the elbow manipulator is shown in Figure 1.12.

Figure 1.11 Symbolic representation of an RRR manipulator (left), and the KUKA 500 arm (right), which is a typical example of an RRR manipulator. The links and joints of the RRR configuration are analogous to human joints and limbs. (Photo courtesy of KUKA Robotics.)

Figure 1.12 Workspace of the elbow manipulator. The elbow manipulator provides a larger workspace than other kinematic designs relative to its size.