This book explains basic kinematic structures in robotic manipulator design. Especial emphasis is given to the design of parallel kinematic robotic manipulators (PKM). Mathematical modelling approaches are discussed in order to evaluate robot's output characteristics like workspace, dexterity, stiffness and accuracy. New structural ideas are modelled to improve orientation capability with low number of actuators and high Degree of freedom joints. A new three legged parallel system is prototyped and its performance is measured through external pose measurement. The book also explains basic...