Limbs with three degrees of connectivity

Limbs with three degrees of connectivity (S _G =3) are used in parallel robots F with the connectivity of the moving platform S _F ≤3. The base of the operational space (R _G ) of these limbs contains three independent velocities. Non-redundant solutions generated by the evolutionary morphology approach are presented in the first six sections of this chapter. Some examplesof redundant solutions are presented in the last section. The first six sections present solutions of limbs defined by the following: (i) three translational motions, (ii)-(iii) one rotational and two translational motions, (iv) one translational and two rotational motions, (v) three rotational motions, and (vi) multiple bases of the operational velocity space.