A robotic mechanism typically comprising a series of fixed elements joined together at joints.

A machine or robotic mechanism of which usually consists of a series of segments (jointed or sliding relative to one another) for the purpose of grasping and/or moving objects (pieces or tools), usually in several degrees of freedom. The control of the manipulator may be by an operator, a programmable electronic controller or any logic system (for example cam device, wired, etc.) (ISO 8373)

See Arm, Wrist and End-effector.