Stanford arm
The Stanford arm is an industrial robot with six degrees of freedom, designed at Stanford University by Victor Scheinman in 1969.[http://www-db.stanford.edu/pub/voy/museum/pictures/display/1-Robot.htm Stanford Arm history]
The Stanford arm is a serial manipulator whose kinematic chain consists of two revolute joints at the base, a prismatic joint, and a spherical joint. Because it includes several kinematic pairs, it is often used as an educational example in robot kinematics.{{cite book|last1=Sastry|first1=Richard M. Murray; Zexiang Li; S. Shankar|title=A mathematical introduction to robotic manipulation|date=1994|publisher=CRC Press|location=Boca Raton, Fla.|isbn=9780849379819|edition=1. [Dr.]|url=http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf|access-date=2018-03-20|archive-date=2020-11-27|archive-url=https://web.archive.org/web/20201127233522/https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf|url-status=dead}}