... ),(=22mYω, ),0(= 33 mY , where 02≠m and 0=2m⋅ω. Now )0,(==11ωYB, )=,0(==22122mbYYB −, )=,0(== 33 33 mbYB. We know, see Remark 3 that Parallel Manipulators, New Developments ... ],[=],[ 31 31BBYY , ],[=],[2 132 BBYY − and ),(= 32 2mmspanτ. b 3 ) TRR: then ),0(=11mY , ),(=22mYω, ),(= 33 mYω, 32 mm ≠, 0=2m⋅ω, 0= 3 m⋅ω. Now 21= YB , 12= YB , 233 = ... 1991, 439 -585, ISSN 0278 -36 49 Selig, J. M. (1996). Geometrical Methods in Robotics, Springer-Verlag, ISBN 038 7947280, New York Parallel Manipulators, New Developments 72 (30 ) (31 )...