A robotic apparatus has eight actuators (M0-M7) and a linkage (LINK 0-LINK 5) that actuates an end effector. Three serial macro freedoms have large ranges of motion and inertias. Four serial micro freedoms have small ranges of motion and inertias. Translation of the end effector in any direction is actuated...http://www.google.com.au/patents/US8123740?utm_source=gb-gplus-sharePatent US8123740 - Robotic apparatus
