In robotics, Cartesian parallel manipulators are manipulators that move a platform using parallel-connected kinematic linkages (`limbs') lined up with a Cartesian coordinate system. Multiple limbs connect the moving platform to a base. Each limb is driven by a linear actuator and the linear actuators are mutually perpendicular. The term `parallel' here refers to the way that the kinematic linkages are put together, it does not connote geometrically parallel; i.e., equidistant lines.
