Which type of robot features two revolute and one prismatic joint, allowing movement along the Theta Z coordinate?

The type of robot that features two revolute joints and one prismatic joint, allowing movement along the Theta Z coordinate, is the SCARA robot. SCARA stands for Selective Compliance Assembly Robot Arm, and it is specifically designed for tasks that require precise horizontal movement and vertical lifting. The combination of two revolute joints allows for rotational motion around the Z-axis, while the prismatic joint permits linear movement along that same axis.

In a SCARA robot, the design is particularly suited for assembly operations where components need to be positioned accurately, as its joints provide the necessary flexibility in a two-dimensional plane while maintaining some rigidity in the vertical direction. This dual nature of compliance and stiffness is critical in many manufacturing applications, which is why the SCARA configuration is popular for processes like pick-and-place tasks.

While Cartesian robots typically use three prismatic joints for movement along the X, Y, and Z axes, articulated robots consist of several revolute joints that allow for a wide range of motion, not specific to the Theta Z movement in the required structure. Delta robots, on the other hand, are characterized by their parallel linkages which provide high speed and precision but do not fit the joint structure outlined in the question. Thus, the correct identification of the