... manipulators are developed in the form of multiply moving platforms and subchains based on displacement group theory and mathematical logic. Kinematic modeling of the most feasible kinematotropic hybrid parallel manipulator is performed by obtaining its kinematic forward and inverse solutions and velocities...

... is based on displacement group theory and consists of two elements. First, spatial multiloop detachment (SMD) is proposed for the analysis of the output motion relations in multiloop topological arrangements. Second, configuration cards for displacement subsets of subchains (CCDS) are developed...