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Disturbance modeling of a vehicle with a tether and manipulator is analyzed in Section 3.

Firstly, the 5R parallel manipulator is analyzed, and adopted kinematic parameters are listed in Table 1.

The mobility of the manipulator is analyzed by resorting to reciprocal screw theory.

The kinematics of the new manipulator is analyzed and its inverse and forward kinematics solutions are provided.

First, the kinematics of the manipulator is analyzed, and performance indices that consider desirable workspace and transmissibility are proposed.

Secondly, the equivalent Jacobian matrix, a linear mapping from the joint space to the task space of the continuum manipulator, is analyzed, and equivalent dexterity performance index is determined.

Position and first-order kinematics of this manipulator are analyzed to illustrate its motion characteristics.

In this section, based on the proposed BTI, transmission performances of typical branches for fully parallel manipulators are analyzed.

Transmission performances of 5R and Stewart parallel manipulators are analyzed to illustrate the analysis method and the proposed frame-free indices.

The typical planar and spatial parallel mechanisms, such as 5R and Stewart parallel manipulators, are analyzed in this section to reveal the end-effector transmissibility.

Failures of parallel manipulators are analyzed at the component level (link and joint failures), subsystem level (branch failure), and system level (parallel device failure).