Tsai, Lung-WenIn this paper, a systematic methodology for enumeration of the kinematicstructures of parallel manipulators is presented. Parallel manipulators areclassified into planar, spherical, and spatial mechanisms. The classificationis followed by an enumeration of the kinematic structures according to thedegrees of freedom and connectivity listing. In particular, a class ofparallel manipulators with pure translational motion capability is enumerated.en-USroboticsParallel ManipulatorsSystematic Enumeration MethodologyIntelligent Control SystemsTechnical Report