Systematic Enumeration of Parallel Manipulators

  • L. W. Tsai
Conference paper
Part of the Advanced Manufacturing book series (ADVMANUF)


In this paper, a systematic methodology for enumeration of the kinematic structures of parallel manipulators is presented. Parallel manipulators are classified into planar, spherical, and spatial mechanisms. The classification is followed by an enumeration of the kinematic structures according to the degrees of freedom and connectivity listing. In particular, a class of parallel manipulators with pure transnational motion capability is enumerated.


Parallel Manipulator Systematic Enumeration ASME Journal Spherical Joint Prismatic Joint 
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Copyright information

© Springer-Verlag London Limited 1999

Authors and Affiliations

  • L. W. Tsai
    • 1
  1. 1.Department of Mechanical Engineering and Institute for Systems ResearchUniversity of MarylandCollege ParkUSA

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