is form by 3 prismatic joints, whose axes are coincident with the X, Y and Z planes.
is able to rotate along his main axes forming a cylindrical shape.
constitutes two or more kinematics chains between the base and the platformwhere the end-effectors are located. Parallel robot is a complex mechanism which is constituted by two or more kinematics chains between, the base and the platform where the end-effectors arelocated. Good examples are the flying simulator and 4-D attractions at Univ. Studios.