... Advances in Robots Kinematics , pp. 46 5- 4 74. Kong X. (1998), Generation of Singular 6-SPS Parallel Manipulators, Proc. of 1998 ASME Design Techni al Conferences, 98DETC/MECH -5 9 52. Dunlop, G.R. and ... R. and Sinatra, R. (2002), Singulariy Curves of a Parallel Pointing System, MECCANICA, vol. 37, pp. 25 5- 2 68. Di Gregorio, R. (2002), Analytic Determination of Workspace and Singularities in ... gen-erating continuous tendon force distributions are discussed in chapter 3,including examples. Finally, in chapter 4, the conclusions are drawn and an outlook is given.2. Kinematics and...