Abstract
owing to the increasing interest in parallel kinematics different parallel and hybrid Systems were proposed and realized in recent years. Due to the different structures and drive principles there are a lot of design possibilities. In order to enable a comparison between the systems among each other and with the conventional systems the criteria of comparison have to be adapted to the parallel kinematics. Already a comparison between fully parallel kinematics and hybrid kinematics appears difficult due to their different characteristics such as workspace, stiffness, isotropy and so on. Also, there are a lot of possibilities of construction. For example, the chosen drive type and the applied joints affect the comparison criteria.
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