Cartesian - Rectangular arm that moves on an X, Y, Z coordinate system.
Cylindrical - Three degrees of freedom, but moves linearly along the Y and Z axes. It rotates around the base for the third degree of freedom.
Spherical - Also known as a polar arm, this manipulator has one sliding motion and two rotational.
SCARA - A horizontal articulated arm robot with three axes.
Articulated (Jointed-Arm) - This rotary jointed body can range from simple two-jointed structures to systems with ten or more interacting joints. The advantage of articulated robot arms is that the configuration enables the robot to reach any part in the working envelope.