Editing Cartesian coordinate robot (section)

=== Degrees of freedom ===
Since they are driven by linear active prismatic ''P'' joints, Cartesian coordinate robots typically manipulate objects with only linear translation ''T'' [[Degrees of freedom (mechanics)|degrees of freedom]].  However, some Cartesian coordinate robots also have [[Cartesian parallel manipulators|rotational ''R'' degrees of freedom]].<ref>{{Cite journal|last=Gogu|first=G.|date=January 2009|title=Structural synthesis of maximally regular T3R2-type parallel robots via theory of linear transformations and evolutionary morphology|url=http://dx.doi.org/10.1017/s0263574708004542|journal=Robotica|volume=27|issue=1|pages=79–101|doi=10.1017/s0263574708004542|s2cid=32809408|issn=0263-5747|url-access=subscription}}</ref>