Please note that the content of this book primarily consists of articles available from Wikipedia or other free sources online. A generalized parallel manipulator is a closed-loop kinematic chain mechanism whose end-effector is linked to the base by several independent kinematic chains A parallel manipulator, also called a parallel robot, consists of a fixed "base" platform, connected to an end effector platform by means of a number of "legs". These legs often consist of an actuated prismatic joint, connected to the platforms through passive (i.e. not actuated) spherical and/or universal joints. Hence, the links feel only traction or compression, not bending, which increases their position accuracy and allows a lighter construction.

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