Spatial Mechanisms for Packaging, Textile, and Automation Machines.

The first Spatial Mechanism if very common. The motion is designed at the Sliding Plate. The Cam Coordinates are found with inverse kinematics [spot the spelling mistake in the video]
The second Spatial Mechanism is less common. The Vaccum Cup rotates and twists at the same time. It might be useful at the end-effector of a pick and place robot, where it might be difficult to fit the extra-rotational axis. For example, a SCARA might only pick vertically, and it might not have the rotational axis.