“…Regardless of the number of degrees of freedom, fewer [1][2][3][4][5][6][7][8] or more [9][10][11][12], the parallel mechanisms have proven their utility in various domains such as flight simulators, telescope position control, radar antennas, pointing devices [13].Parallel mechanisms have a robust construction and can move bodies of considerable mass and size at high speed, establishing a translational motion or rotation of the mobile platform. Compared to serial mechanisms, parallel manipulators have some special characteristics: high rigidity, high dynamic loading capacity, chain closed structure, high positional accuracy.…”