Base (BS)

Support system (SS)

Manipulator (MN)

Gripping device (GD)

1. Execution

2. Change of position

3. Execution

4. Location

5. Degree of mobility

6. Transformation of motion

7. Quantity

8. Location

1.1. Outdoor

1.2. Ceiling

1.3. Wall

1.4. Combined

2.1. Absent (fixed)

2.2. Mobile for one coordinate

2.3. Mobile for two coordinate

3.1. Straight

4.1. Upright

4.2. Horizontal

4.3. Oblique

4.4. Combined

5.1. One

5.2. Two

5.3. Several

6.1. Chaining the length of rod (-pod)

6.2. Chaining the position

the support rod (-glayd)

6.3. Chaining the angle of rotation of rod (delta)

6.4. Combined

7.1. One

7.2. Two

7.3. Several

8.1. Perpendicular to the plane of the mobile platform

8.2. Along (parallel to) he plane of the mobile platform

8.3. At any angle

Flat

3.2. Polygon

3.3. Circle

3.4 Part of the circle

3.5. Combined

Volumetric

3.6. Cone

3.7. Pyramid

3.8. Prism

3.9.Sphere

3.10. Combined