Cylindrical coordinate robots have at least one rotary joint at the base and at least one prismatic joint connecting the links. These robots feature a cylindrical workspace, equipped with a pivot and a retractable arm that can move vertically and slide. Therefore, robots with a cylindrical structure provide vertical and horizontal linear movements as well as rotational movement around the vertical axis. The compact design at the end of the arm allows the industrial robot to reach a compact working range without losing speed and repeatability. They are mainly used in simple applications such as picking, rotating and placing materials.