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Usually, because they are built to act and control like a human wrist and elbow. Our wrist has more degrees of freedom than our elbow, so that was how many of the first designers made the robots: it is usually easier to copy something that we are already familiar with and we know works than to have to come up with an entirely new design and work the bugs out. Other reasons have to do with stability (the elbow that only moves up and down can be built to flex less sideways when a load is put on the gripper or other end affector), ease of programming (fewer degrees of freedom per joint translates to fewer possibilities of positioning and fewer lines of code) and predictability of movement.

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