Parallel manipulator usually more limited in the workspace; for instance, they generally cannot reach around obstacles. The calculations involved in performing a desired manipulation (forward kinematics) are also usually more difficult and can lead to multiple solutions. Two examples of popular parallel robots are the Stewart platform and the Delta robot. Parallel manipulator A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform, or end-effector. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators. This device is called a Stewart
Parallel and counter parallel major and tL in minor. If chords may be formed by raising (major) or lowering (minor) the fifth a whole step ["parallel" or relative chords], they may also be formed by lowering (major) or raising (minor) the root a half-step to "wechsel", the leading tone or "leitton". For example, Am is the tonic parallel of C, thus, Em is the counter parallel of C. The usual parallel chord in a major key is a minor third below the root and the counter parallel is a major third above. In a minor key the intervals are reversed: the tonic parallel (e.g.