# How wrist geometry determines industrial robot production performance: differentiated selection analysis under the same payload and reach

- Source: Reddit r/robotics
- Published: 2026-10-18T06:39:15.000Z
- RoboHot: https://robohot.news/en/items/x457rn2bj5dxcqdl1pviadih6
- Original: https://www.reddit.com/r/robotics/comments/1x8w8h0/same_payload_same_reach_very_different_behavior/

## Summary

An analysis aimed at robot selection points out that wrist geometry (inline wrist, offset wrist, collaborative robot layout) determines the behavioral differences in production among robots with the same payload and the same reach. In an inline wrist, joints 4, 5, and 6 intersect at a single point, supporting analytical inverse kinematics and offline programming; an offset wrist provides a larger orientation envelope for long tools (spray guns, welding guns, grinding heads), but increases the complexity of inverse kinematics and singularity analysis.