Vertical Articulated Arm Robots are robots with serial kinematics typically consisting of five or six axes that allow arbitrary movements including tilting movements in all directions. 
The first vertical axis of rotation is used to rotate the first arm around the robot base. The other arms each connect to the joints of the previous articulated arm. The articulated arms are movable in the vertical direction and enable an approximately spherical segment-shaped working space. At the end of the kinematic chain is the end effector for holding a gripper or tools, which can be moved to any orientation via up to three wrist axes. 
Vertical Articulated Arm Robots require a separate drive for each articulated arm, which loads the axis by its own weight. Due to the weight of the drives and the cumulative play of the joints, vertical jointed-arm robots offer lower speed, dynamics and repeatability compared to Scara or parallel kinematic robots. The advantages of Vertical Jointed-arm Robots are their flexibility and universal applicability.

Vertical Jointed-arm Robots have a horizontally rotatable base and, depending on the design, four to five additional articulated axes and are similar in their mobility to a human arm. They can move three-dimensionally in an approximately spherical segment-shaped workspace and with any orientation of grippers and tools. Due to the possible simultaneous movement of all joints, the robots are able to perform very complex sequences of movements. Due to the leverage effect, the load-bearing capacity of the robot arms decreases with increasing jib width.
Since the drives are integrated in the hand axes and arm joints, the mass of all drives must additionally be moved with the axes and in many cases requires a weight balance for the drives. The coordinated point-to-point or path-like movement of the individual joints is regulated by the control system.