1. Topology of parallel robot architectures

Classically, a parallel robot is defined by a mobile platform, carrying the end device (or end effector), connected to a fixed base (chassis) by at least two legs made up of actuated joints and passive joints (figure 1 ). If a parallel robot has 6 legs and each leg has 6 joints (as many as a 6-axis serial robot), the order of magnitude of the number of possible parallel robot topologies is that of the number of possible serial robots raised to the power of 6. It is therefore not possible to present an exhaustive list of parallel robot topologies, especially as only some of them are of interest in terms of performance. It should be noted, however, that catalogs exist referencing a large number of parallel robot architectures