In the two past decades, the parallel kinematics mechanisms (PKMs) have received wide acceptance for the design of robots and machines of different types. In these mechanisms, the output link – end-effector (EE) – usually presents a multi-degree-of-freedom platform (Fig. 5.1), which is directly and simultaneously (in-parallel) connected with another link (e.g., a fixed base) through several independent kinematic chains. Two parallel chains together with the base and platform form a kinematic closed loop. This fact explains the presently accepted definition of a generalized parallel manipulator, a closed-loop kinematic chain mechanism whose end-effector is linked to the base by several...