On some applications of primitive Schonflies-motion generators

In this paper, we focus on some examples of practical applications of the primitive Schonflies-motion generators that are named also the primitive X-motion generators for conciseness. We address especially the serial SCARA-type robots and the 3-dof translational parallel manipulators. Based on the limb architectures of primitive X-motion generators, we systematically introduce general architectures of serial or parallel manipulators for the purpose of practical applications. The brief account of various achievements of some of the X-motion generators that are already described in the recent literature is also proposed and their obviously singular postures are preliminarily obtained. (C) 2009 Elsevier Ltd. All rights reserved.