The figure below depicts the delta robot mechanism; these robots are also known as parallel robots. The delta robot consists of two platforms: the upper one with three motors mounted on it and a smaller one with an end effector. The platforms are connected through three arms with parallelograms; the parallelograms restrain the orientation of the lower platform to be parallel to the working surface. The motors set the position of the arms and thereby the XYZ position of the end effector. The delta robot links have common names in literature. The top links are referred to as "hips", while the bottom links are referred to as "ankles".