Structural Synthesis of Parallel Robots

Preface; 1. Translational parallel robots with two degrees of freedom T2-type;1.1. Translational parallel robots T2-type with coupled motions ;1.2. Translational parallel robots T2-type with decoupled motions; 1.3. Translational parallel robots T2-type with uncoupled motions; 1.4. Maximally regular translational parallel robots T2-type; 2. Parallel robots with screw motion T1R1-type; 2.1. Parallel robots with screw motions and coupled motions; 2.2. Parallel robots with screw motions and decoupled motions ;2.3. Parallel robots with screw motions and uncoupled motions; 2.4. Maximally regular parallel robots with screw motion; 3. Other parallel robots with two degrees of freedom T1R1-type; 3.1. Parallel robots T 1R1 -type with coupled motions; 3.2. Parallel robots T1R1-type with decoupled motions; 3.3. Parallel robots T1R1-type with uncoupled motions; 3.4. Maximally regular parallel robots T1R1-type; 4. Spherical parallel wrists with two degrees of freedom R2-type; 4.1. Parallel wrists R2-type with coupled motions; 4.2. Parallel wrists R2-type with decoupled motions; 4.3. Parallel wrists R2-type with uncoupled motions; 4.4. Maximally regular parallel wrists R2-type; 5. Translational parallel robots with three degrees of freedom; 5.1. Translational parallel robots T3-type with coupled motions; 5.2. Translational parallel robots T3-type with decoupled motions; 5.3. Translational parallel robots T3-type with uncoupled motions; 5.4. Maximally regular translational parallel robots T3-type; 6. Parallel robots with planar motion T2R 1-type; 6.1. Parallel robots with planar coupled motions; 6.2. Parallel robots with planar decoupled motions; 6.3. Parallel robots with planar uncoupled motions; 6.4. Maximally regular planar parallel robots; 7. Other parallel robots with three degrees of freedom T2R 1-type; 7.1. Parallel robots T2R1-type with coupled motions; 7.2. Parallel robots T2R1-type with decoupled motions; 7.3. Parallel robots T2R1-type with uncoupled motions; 7.4. Maximally regular parallel robots T2R 1-type; 8. Parallel robots with three degrees of freedom T1R2-type; 8.1. Parallel robots T1R2-type with coupled motions; 8.2. Parallel robots T1R2-type with decoupled motions; 8.3. Parallel robots T1R2-type with uncoupled motions; 8.4. Maximally regular parallel robots T1R2-type; 9. Spherical parallel wrists with three degrees of freedom R3-type; 9.1. Parallel wrists R3-type with coupled motions; 9.2. Parallel wrists R3-type with decoupled motions; 9.3. Parallel wrists R3-type with uncoupled motions; 9.4. Maximally regular parallel wrists R3-type; 10. Parallel robots with Schönflies motion T3R 1-type; 10.1. Parallel robots with coupled Schönflies motions; 10.2. Parallel robots with Schönflies decoupled motions; 10.3. Parallel robots with Schönflies uncoupled motions; 10.4. Maximally regular parallel robots with Schönflies motion; 11. Other parallel robots with four degrees of freedom T3R1 -type; 11.1. Parallel robots T3R1 -type with coupled motions; 11.2. Parallel robots T3R1-type with decoupled motions; 11.3. Parallel robots T3R1-type with uncoupled motions; 11.4. Maximally regular parallel robots T3R1-type; 12. Parallel robots with four degrees of freedom T2R2-type; 12.1. Parallel robots T2R2-type with coupled motions; 12.2. Parallel robots T2R2-type with decoupled motions; 12.3. Parallel robots T2R2-type with uncoupled motions; 12.4. Maximally regular parallel robots T2R2-type; 13. Parallel robots with four degrees of freedom T1R3-type; 13. 1. Parallel robots T1R3-type with coupled motions; 13.2. Parallel robots T1R3-type with decoupled motions; 13.3. Parallel robots T1R3-type with uncoupled motions; 13.4. Maximally regular parallel robots T1R3-type; 14. Parallel robots with five degrees of freedom T3R2-type; 14.1. Parallel robots T3R2-type with coupled motions; 14.2. Parallel robots T3R2-type with decoupled motions; 14.3. Parallel robots T3R2-type with uncoupled motions; 14.4. Maximally regular parallel robots T3R2-type; 15