A New Schöenfiles Motion parallel manipulator

Schöenfiles Motion parallel manipulators can have wide industrial applications. However, the types of such manipulator are very few. This work utilize a recently developed technology, the pattern analysis of transform matrices, to parametrically synthesize a new parallel manipulator with Schöenfiles Motion. The patterns of transform matrices are closely related to the motion subgroup. Special geometric conditions are found to degenerate the constraint equations and yield the desired mobility.