Systematic Enumeration of Parallel Manipulators

Abstract

In this paper, a systematic methodology for enumerationof the kinematic structures of parallel manipulatorsis presented. Parallel manipulators are classifiedinto planar, spherical, and spatial mechanisms. Theclassification is followed by an enumeration of thekinematic structures according to the degrees offreedom and connectivity listing. In particular, a classof parallel manipulators with pure translational motioncapability is enumerated.