The Scorbot ER-III is a JAR (Jointed Arm Revolute) robot which means it's movements are somewhat similar to that of the human arm. The ER III has three axes of rotation and five degrees of freedom. These degrees are illustrated through the movement of different parts which are:
1) Base- lower part of robot which rotates about the y-axis.
2) Shoulder- connects to the base by way of a joint which rotates about the x-axis.
3) Elbow- connects to the shoulder by way of a joint and also rotates about the x-axis.
4) Wrist- this portion is connected to the elbow and gives the robot its final two degrees of freedom. It is capable of rotating as a human wrist would, wrist roll. The wrist is connected by a joint along the x-axis which allows it to flex up and down as a human wrist would, wrist pitch.
5) Gripper- this is end effector attached to the wrist and is capable of opening and closing. It emulates the action of a human using his/her index finger and thumb to grasp an object. This robot is powered via an electric motor.
Mechanical Structure: Vertically Articulated, 5 Axis PLUS Gripper = 6 Axis; Support for 2 additional axis (Conveyor, rotary table, etc); Controller supports simultaneous control of all 8 axis