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
Ports in India maritime transport is to be administered by both the Central and the State governments. While the central government's shipping ministry administers the major ports, the minor and intermediate ports are administered by the relevant departments or ministries in the nine coastal states Andhra Pradesh, Odisha, West Bengal, Tamil Nadu, Kerala, Karnataka, Goa, Maharashtra and Gujarat. Several of these 187 minor and intermediate ports have been identified by the respective governments to be developed, in a phased manner, a good proportion of them involving public–private partnership. Major ports handled over 74% of all cargo traffic in 2007. All except Ennore Port