Match three-DOF robot configurations P: Cartesian; Q: cylindrical; R: spherical; S: articulated, with joint types 1: one prismatic and two rotary; 2: three rotary; 3: two prismatic and one rotary; 4: three prismatic.
Cartesian motion uses three translations (PPP). Cylindrical motion uses one rotation and two translations (RPP). Spherical motion uses two rotations and radial translation (RRP). An articulated three-axis arm uses three rotations (RRR). **P–4,Q–3,R–1,S–2: B**.
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