Cartesian parallel manipulators are in the intersection of two broader categories of manipulators: Cartesian and parallel. Cartesian manipulators are driven by mutually perpendicular linear actuators. They generally have a one-to-one correspondence between the linear positions of the actuators and the X, Y, Z position coordinates of the moving platform, making them easy to control. Furthermore, Cartesian manipulators do not change the orientation of the moving platform. Most commonly, Cartesian manipulators are serial-connected; i.e., they consist of a single kinematic linkage chain, i.e. the first linear actuator moves the second one and so on. On the other hand, Cartesian parallel manipulators are parallel-connected, i.e. they consist of multiple kinematic linkages. Parallel-connected manipulators have innate advantagesZ. Pandilov, V. Dukovski, Comparison of the characteristics between serial and parallel robots, Acta Technica Corviniensis-Bulletin of Engineering, Volume 7, Issue 1, Pages 143-160 in terms of stiffness, precision, dynamic performanceR. Clavel, inventor, S.A. SovevaSwitzerland, assignee. Device for the movement and positioning of an element in space, USA patent number, 4,976,582 (1990) and in supporting heavy loads.
