Structural design of parallel manipulators with general constraint one

In this paper structural design of parallel manipulators with general constraint one regarding angular and linear-angular conditions are considered. Four known overconstrained mechanisms with angular and two new designs with linear-angular conditions are presented. 14 structural groups and end effector chains in subspace image are examined. New formulations and definitions of constructing overconstrained manipulators are described. Using examined structural groups, all architectures of subspace image parallel manipulators with revolute joints and single-loop are introduced via structural bonding.