Synthesis of kinematotropic parallel manipulators by inclusion of additional motion generators

Abstract Linkages able to change their finite degree of freedom due geometric constraints are commonly known as kinematotropic linkages. Although a considerable number examples such linkages can be found in the literature, amount reported parallel manipulators remains small. Even more rare publications presenting systematic methods for design manipulators. Hence, this paper, method is introduced. It takes existing with constant and shows how an additional limb that renders manipulator kinematotropic. The applied two examples, switch between 1-, 2- 3-DOF motion modes, different 1- one 2-DOF modes.